diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 6d8fae9011b5c..a5ce58c3b0e9b 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -4,12 +4,12 @@ common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.w common/autoware_component_interface_specs_universe/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_component_interface_tools/** isamu.takagi@tier4.jp common/autoware_component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp +common/autoware_cuda_dependency_meta/** esteve.fernandez@tier4.jp common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/autoware_glog_component/** takamasa.horibe@tier4.jp common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp -common/autoware_object_recognition_utils/** takayuki.murooka@tier4.jp yoshi.ri@tier4.jp common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp common/autoware_polar_grid/** yukihiro.saito@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 @@ -25,7 +25,7 @@ control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@ 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 control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp zulfaqar.azmi@tier4.jp -control/autoware_mpc_lateral_controller/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/autoware_mpc_lateral_controller/** alqudah.mohammad@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_obstacle_collision_checker/** 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_operation_mode_transition_manager/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp @@ -128,7 +128,6 @@ planning/autoware_obstacle_cruise_planner/** berkay@leodrive.ai kosuke.takeuchi@ planning/autoware_obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp -planning/autoware_planning_factor_interface/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp planning/autoware_planning_topic_converter/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp planning/autoware_planning_validator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai @@ -206,7 +205,7 @@ system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/** isa system/autoware_diagnostic_graph_aggregator/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp system/autoware_diagnostic_graph_utils/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp system/autoware_dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp -system/autoware_dummy_infrastructure/** junya.sasaki@tier4.jp ryohsuke.mitsudome@tier4.jp +system/autoware_dummy_infrastructure/** akihisa.nagata@tier4.jp junya.sasaki@tier4.jp kosuke.takeuchi@tier4.jp ryohsuke.mitsudome@tier4.jp takeshi.miura@tier4.jp system/autoware_duplicated_node_checker/** junya.sasaki@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp system/autoware_hazard_status_converter/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp system/autoware_mrm_comfortable_stop_operator/** junya.sasaki@tier4.jp makoto.kurihara@tier4.jp tomohito.ando@tier4.jp diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 7389e9fb5dbcb..846a7cc872091 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -46,8 +46,8 @@ dest: mkdocs.yaml pre-commands: | sd "Autoware Documentation" "Autoware Universe Documentation" {source} - sd "autoware-documentation" "autoware.universe" {source} - sd "repo_url: .*" "repo_url: https://github.com/autowarefoundation/autoware.universe" {source} + sd "autoware-documentation" "autoware_universe" {source} + sd "repo_url: .*" "repo_url: https://github.com/autowarefoundation/autoware_universe" {source} sd "/edit/main/docs/" "/edit/main/" {source} sd "docs_dir: .*" "docs_dir: ." {source} sd "assets/(\w+)" "docs/assets/\$1" {source} diff --git a/.github/workflows/build-and-test-packages-above-differential.yaml b/.github/workflows/build-and-test-packages-above-differential.yaml new file mode 100644 index 0000000000000..7af11ac5b7e9a --- /dev/null +++ b/.github/workflows/build-and-test-packages-above-differential.yaml @@ -0,0 +1,149 @@ +name: build-and-test-packages-above-differential + +on: + workflow_call: + inputs: + container: + required: true + type: string + runner: + default: ubuntu-24.04 + required: false + type: string + rosdistro: + default: humble + required: false + type: string + run-condition: + default: true + required: false + type: boolean + container-suffix: + required: false + default: "" + type: string + build-pre-command: + required: false + default: "" + type: string + secrets: + codecov-token: + required: true + +env: + CC: /usr/lib/ccache/gcc + CXX: /usr/lib/ccache/g++ + +jobs: + build-and-test-packages-above-differential: + if: ${{ inputs.run-condition }} + runs-on: ${{ inputs.runner }} + container: ${{ inputs.container }}${{ inputs.container-suffix }} + steps: + - name: Set PR fetch depth + run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" + shell: bash + + - name: Checkout PR branch and all PR commits + uses: actions/checkout@v4 + with: + ref: ${{ github.event.pull_request.head.sha }} + fetch-depth: ${{ env.PR_FETCH_DEPTH }} + + - name: Show disk space before the tasks + run: df -h + shell: bash + + - name: Show machine specs + run: lscpu && free -h + shell: bash + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Create ccache directory + run: | + mkdir -p ${CCACHE_DIR} + du -sh ${CCACHE_DIR} && ccache -s + shell: bash + + - name: Attempt to restore ccache + uses: actions/cache/restore@v4 + with: + path: | + /root/.ccache + key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }} + restore-keys: | + ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}- + + - name: Show ccache stats before build and reset stats + run: | + du -sh ${CCACHE_DIR} && ccache -s + ccache --zero-stats + shell: bash + + - name: Export CUDA state as a variable for adding to cache key + run: | + build_type_cuda_state=nocuda + if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then + build_type_cuda_state=cuda + fi + echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}" + echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" + shell: bash + + - name: Prepare build_depends.repos file (main branch) + if: ${{ github.event.pull_request.base.ref == 'main' }} + uses: ./.github/actions/combine-repos-action + with: + base_file: build_depends_humble.repos + overlay_file: build_depends_nightly.repos + output_file: build_depends.repos + + - name: Prepare build_depends.repos file (humble branch) + if: ${{ github.event.pull_request.base.ref == 'humble' }} + run: cp build_depends_humble.repos build_depends.repos + shell: bash + + - name: Build + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ inputs.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: build_depends.repos + packages-above-repos: packages_above.repos + cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} + build-pre-command: ${{ inputs.build-pre-command }} + + - name: Show ccache stats after build + run: du -sh ${CCACHE_DIR} && ccache -s + shell: bash + + - name: Test + id: test + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: ${{ inputs.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: build_depends.repos + packages-above-repos: packages_above.repos + + - name: Upload coverage to CodeCov + if: ${{ steps.test.outputs.coverage-report-files != '' }} + uses: codecov/codecov-action@v4 + with: + files: ${{ steps.test.outputs.coverage-report-files }} + fail_ci_if_error: false + verbose: true + flags: differential${{ inputs.container-suffix }} + token: ${{ secrets.codecov-token }} + + - name: Show disk space after the tasks + run: df -h + shell: bash diff --git a/.github/workflows/build-test-tidy-pr.yaml b/.github/workflows/build-test-tidy-pr.yaml index 90dfc2083118e..7a40261726311 100644 --- a/.github/workflows/build-test-tidy-pr.yaml +++ b/.github/workflows/build-test-tidy-pr.yaml @@ -28,7 +28,7 @@ jobs: - name: Check if relevant files changed id: check - uses: tj-actions/changed-files@v45 + uses: step-security/changed-files@v45 with: files: | perception/** @@ -50,6 +50,17 @@ jobs: secrets: codecov-token: ${{ secrets.CODECOV_TOKEN }} + build-and-test-packages-above-differential: + if: ${{ always() }} + needs: + - require-label + uses: ./.github/workflows/build-and-test-packages-above-differential.yaml + with: + container: ghcr.io/autowarefoundation/autoware:universe-devel + run-condition: ${{ needs.require-label.outputs.result == 'true' }} + secrets: + codecov-token: ${{ secrets.CODECOV_TOKEN }} + build-and-test-differential-cuda: if: ${{ always() }} needs: check-if-cuda-job-is-needed diff --git a/NOTICE b/NOTICE index 0ac1d22befa35..a17031e70c0ef 100644 --- a/NOTICE +++ b/NOTICE @@ -1,4 +1,4 @@ -autowarefoundation/autoware.universe +autowarefoundation/autoware_universe Copyright 2021 The Autoware Foundation This product includes software developed at diff --git a/README.md b/README.md index 9636c801a4444..c4ee52f739ff7 100644 --- a/README.md +++ b/README.md @@ -13,7 +13,7 @@ To dive into the vast world of Autoware and understand how Autoware Universe fit ### Explore Autoware Universe documentation -For those looking to explore the specifics of Autoware Universe components, the [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/), deployed with MKDocs, offers detailed insights. +For those looking to explore the specifics of Autoware Universe components, the [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/), deployed with MKDocs, offers detailed insights. ## Code Coverage Metrics @@ -21,7 +21,7 @@ Below table shows the coverage rate of entire Autoware Universe and sub-componen ### Entire Project Coverage -[![codecov](https://codecov.io/github/autowarefoundation/autoware.universe/graph/badge.svg?token=KQP68YQ65D)](https://codecov.io/github/autowarefoundation/autoware.universe) +[![codecov](https://codecov.io/github/autowarefoundation/autoware_universe/graph/badge.svg?token=KQP68YQ65D)](https://codecov.io/github/autowarefoundation/autoware_universe) ### Component-wise Coverage @@ -29,18 +29,18 @@ You can check more details by clicking the badge and navigating the codecov webs | Component | Coverage | | ------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| Common | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=Common%20Packages&query=$.[0].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=Common%20Packages) | -| Control | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=Control%20Packages&query=$.[1].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=Control%20Packages) | -| Evaluator | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=Evaluator%20Packages&query=$.[2].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=Evaluator%20Packages) | +| Common | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=Common%20Packages&query=$.[0].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=Common%20Packages) | +| Control | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=Control%20Packages&query=$.[1].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=Control%20Packages) | +| Evaluator | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=Evaluator%20Packages&query=$.[2].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=Evaluator%20Packages) | | Launch | TBD | -| Localization | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=Localization%20Packages&query=$.[4].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=Localization%20Packages) | -| Map | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=Map%20Packages&query=$.[5].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=Map%20Packages) | -| Perception | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=Perception%20Packages&query=$.[6].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=Perception%20Packages) | -| Planning | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=Planning%20Packages&query=$.[7].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=Planning%20Packages) | -| Sensing | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=Sensing%20Packages&query=$.[8].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=Sensing%20Packages) | -| Simulator | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=Simulator%20Packages&query=$.[9].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=Simulator%20Packages) | -| System | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=System%20Packages&query=$.[10].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=System%20Packages) | -| Vehicle | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware.universe/components&label=Vehicle%20Packages&query=$.[11].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware.universe?components%5B0%5D=Vehicle%20Packages) | +| Localization | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=Localization%20Packages&query=$.[4].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=Localization%20Packages) | +| Map | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=Map%20Packages&query=$.[5].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=Map%20Packages) | +| Perception | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=Perception%20Packages&query=$.[6].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=Perception%20Packages) | +| Planning | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=Planning%20Packages&query=$.[7].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=Planning%20Packages) | +| Sensing | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=Sensing%20Packages&query=$.[8].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=Sensing%20Packages) | +| Simulator | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=Simulator%20Packages&query=$.[9].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=Simulator%20Packages) | +| System | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=System%20Packages&query=$.[10].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=System%20Packages) | +| Vehicle | [![codecov](https://img.shields.io/badge/dynamic/json?url=https://codecov.io/api/v2/github/autowarefoundation/repos/autoware_universe/components&label=Vehicle%20Packages&query=$.[11].coverage)](https://app.codecov.io/gh/autowarefoundation/autoware_universe?components%5B0%5D=Vehicle%20Packages) | diff --git a/control/autoware_trajectory_follower_base/CHANGELOG.rst b/control/autoware_trajectory_follower_base/CHANGELOG.rst index 24b773ab3b063..3b096e9525400 100644 --- a/control/autoware_trajectory_follower_base/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_base/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_trajectory_follower_base ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,27 +25,27 @@ Changelog for package autoware_trajectory_follower_base 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: tier4_debug_msgs changed to autoware_internal_msgs in files con… (`#9852 `_) +* feat: tier4_debug_msgs changed to autoware_internal_msgs in files con… (`#9852 `_) feat: tier4_debug_msgs changed to autoware_internal_msgs in files control/autoware_trajectory_follower_base * Contributors: Fumiya Watanabe, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(trajectory_follower): publsih control horzion (`#8977 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(trajectory_follower): publsih control horzion (`#8977 `_) * feat(trajectory_follower): publsih control horzion * fix typo * rename functions and minor refactor @@ -48,8 +54,8 @@ Changelog for package autoware_trajectory_follower_base * update docs * rename to ~/debug/control_cmd_horizon --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -59,9 +65,9 @@ Changelog for package autoware_trajectory_follower_base 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -72,25 +78,25 @@ Changelog for package autoware_trajectory_follower_base 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats * remove autoware\_ prefix from launch arg option --------- -* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) +* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) * rename trajectory follower base package * update dependencies and includes * fix formats diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml index 3504c9dec791e..52b267760629a 100644 --- a/control/autoware_trajectory_follower_base/package.xml +++ b/control/autoware_trajectory_follower_base/package.xml @@ -2,7 +2,7 @@ autoware_trajectory_follower_base - 0.42.0 + 0.43.0 Library for generating lateral and longitudinal controls following a trajectory diff --git a/control/autoware_trajectory_follower_node/CHANGELOG.rst b/control/autoware_trajectory_follower_node/CHANGELOG.rst index 70c3d50e5b10a..c165b664d1900 100644 --- a/control/autoware_trajectory_follower_node/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_node/CHANGELOG.rst @@ -2,15 +2,27 @@ Changelog for package autoware_trajectory_follower_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(planning, control): reuse stamp of subscribed topic to measure component latency (`#10201 `_) + * fix(behavior_velocity_planner): reuse timestamp of recieved path + * fix(behavior_path_planner): check timestamp first in timer driven callback + * fix(trajectory_follower_node): check timestamp first in timer driven callback + * fix(vehicle_cmd_gate): reuse timestamp of recieved path + --------- +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,12 +31,12 @@ Changelog for package autoware_trajectory_follower_node 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9853 `_) +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9853 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files control/autoware_trajectory_follower_node -* fix: remove unnecessary parameters (`#9935 `_) -* chore(trajectory_follower_node): fix typos (`#9707 `_) -* feat(pid_longitudinal_controller): update plotjuggler settings (`#9703 `_) -* feat(pid_longitudinal_controller): remove trans/rot deviation validation since the control_validator has the same feature (`#9675 `_) +* fix: remove unnecessary parameters (`#9935 `_) +* chore(trajectory_follower_node): fix typos (`#9707 `_) +* feat(pid_longitudinal_controller): update plotjuggler settings (`#9703 `_) +* feat(pid_longitudinal_controller): remove trans/rot deviation validation since the control_validator has the same feature (`#9675 `_) * feat(pid_longitudinal_controller): remove trans/rot deviation validation since the control_validator has the same feature * fix test --------- @@ -33,30 +45,30 @@ Changelog for package autoware_trajectory_follower_node 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - control (`#9565 `_) -* refactor: correct spelling (`#9528 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* refactor: correct spelling (`#9528 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(mpc_lateral_controller): suppress rclcpp_warning/error (`#9382 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(mpc_lateral_controller): suppress rclcpp_warning/error (`#9382 `_) * feat(mpc_lateral_controller): suppress rclcpp_warning/error * fix * fix test --------- -* fix(autoware_trajectory_follower_node): fix clang-diagnostic-format-security (`#9378 `_) -* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) -* feat(trajectory_follower): publsih control horzion (`#8977 `_) +* fix(autoware_trajectory_follower_node): fix clang-diagnostic-format-security (`#9378 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* feat(trajectory_follower): publsih control horzion (`#8977 `_) * feat(trajectory_follower): publsih control horzion * fix typo * rename functions and minor refactor @@ -65,9 +77,9 @@ Changelog for package autoware_trajectory_follower_node * update docs * rename to ~/debug/control_cmd_horizon --------- -* fix(control): missing dependency in control components (`#9073 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -78,10 +90,10 @@ Changelog for package autoware_trajectory_follower_node 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(control): missing dependency in control components (`#9073 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -92,39 +104,39 @@ Changelog for package autoware_trajectory_follower_node 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* feat(autoware_mpc_lateral_controller): add predicted trajectory acconts for input delay (`#8436 `_) +* feat(autoware_mpc_lateral_controller): add predicted trajectory acconts for input delay (`#8436 `_) * feat: enable delayed initial state for predicted trajectory * feat: enable debug publishing of predicted and resampled reference trajectories --------- -* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#8325 `_) -* refactor(control/pid_longitudinal_controller): rework parameters (`#6707 `_) +* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#8325 `_) +* refactor(control/pid_longitudinal_controller): rework parameters (`#6707 `_) * reset and re-apply refactoring * style(pre-commit): autofix * . * . --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (`#7718 `_) +* feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (`#7718 `_) change diff limit structure change stopped condition define a new param -* fix(controller): revival of dry steering (`#7903 `_) - * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" +* fix(controller): revival of dry steering (`#7903 `_) + * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" This reverts commit 69258bd92cb8a0ff8320df9b2302db72975e027f. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- -* ci: disable failing tests undetected due to broken regex filter (`#7731 `_) -* fix(autoware_pid_longitudinal_controller, autoware_trajectory_follower_node): unite diagnostic_updater\_ in PID and MPC. (`#7674 `_) +* ci: disable failing tests undetected due to broken regex filter (`#7731 `_) +* fix(autoware_pid_longitudinal_controller, autoware_trajectory_follower_node): unite diagnostic_updater\_ in PID and MPC. (`#7674 `_) * diag_updater\_ added in PID * correct the pointer form * pre-commit --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(mpc_lateral_controller): signal a MRM when MPC fails. (`#7016 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(mpc_lateral_controller): signal a MRM when MPC fails. (`#7016 `_) * mpc fail checker diagnostic added * fix some scope issues * member attribute added. @@ -141,20 +153,20 @@ Changelog for package autoware_trajectory_follower_node * pre-commit --------- Co-authored-by: Takamasa Horibe -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* refactor(pure_pursuit): prefix package and namespace with autoware\_ (`#7301 `_) +* refactor(pure_pursuit): prefix package and namespace with autoware\_ (`#7301 `_) * RT1-6683 add autoware prefix to package and namepace * fix precommit --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats diff --git a/control/autoware_trajectory_follower_node/CMakeLists.txt b/control/autoware_trajectory_follower_node/CMakeLists.txt index 90fa1b0319919..8b5ccacfcc255 100644 --- a/control/autoware_trajectory_follower_node/CMakeLists.txt +++ b/control/autoware_trajectory_follower_node/CMakeLists.txt @@ -38,7 +38,7 @@ if(BUILD_TESTING) ${TRAJECTORY_FOLLOWER_NODES_TEST} ${CONTROLLER_NODE}) # Temporary disabled, tracked by: - # https://github.com/autowarefoundation/autoware.universe/issues/7733 + # https://github.com/autowarefoundation/autoware_universe/issues/7733 # find_package(autoware_testing REQUIRED) # # smoke test for MPC controller # add_smoke_test(${PROJECT_NAME} ${CONTROLLER_NODE}_exe diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml index 2a5e04bf7a20c..df39687deb990 100644 --- a/control/autoware_trajectory_follower_node/package.xml +++ b/control/autoware_trajectory_follower_node/package.xml @@ -2,7 +2,7 @@ autoware_trajectory_follower_node - 0.42.0 + 0.43.0 Nodes to follow a trajectory by generating control commands separated into lateral and longitudinal commands diff --git a/control/autoware_trajectory_follower_node/src/controller_node.cpp b/control/autoware_trajectory_follower_node/src/controller_node.cpp index fab0f329f0d95..bed8616340ce7 100644 --- a/control/autoware_trajectory_follower_node/src/controller_node.cpp +++ b/control/autoware_trajectory_follower_node/src/controller_node.cpp @@ -204,6 +204,9 @@ boost::optional Controller::createInputData(rclc void Controller::callbackTimerControl() { + autoware_control_msgs::msg::Control out; + out.stamp = this->now(); + // 1. create input data const auto input_data = createInputData(*get_clock()); if (!input_data) { @@ -239,8 +242,6 @@ void Controller::callbackTimerControl() if (isTimeOut(lon_out, lat_out)) return; // 5. publish control command - autoware_control_msgs::msg::Control out; - out.stamp = this->now(); out.lateral = lat_out.control_cmd; out.longitudinal = lon_out.control_cmd; control_cmd_pub_->publish(out); diff --git a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst index 94176003c3187..f61be8a626165 100644 --- a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst +++ b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst @@ -2,15 +2,27 @@ Changelog for package autoware_vehicle_cmd_gate ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(planning, control): reuse stamp of subscribed topic to measure component latency (`#10201 `_) + * fix(behavior_velocity_planner): reuse timestamp of recieved path + * fix(behavior_path_planner): check timestamp first in timer driven callback + * fix(trajectory_follower_node): check timestamp first in timer driven callback + * fix(vehicle_cmd_gate): reuse timestamp of recieved path + --------- +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,77 +31,77 @@ Changelog for package autoware_vehicle_cmd_gate 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_vehicle_cmd_gate)!: tier4-debug_msgs changed to autoware_internal_debug_msgs in autoware_vehicle_cmd_gate (`#9856 `_) -* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* feat(autoware_vehicle_cmd_gate)!: tier4-debug_msgs changed to autoware_internal_debug_msgs in autoware_vehicle_cmd_gate (`#9856 `_) +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - control (`#9565 `_) -* fix(autoware_vehicle_cmd_gate): remove unused variable (`#9377 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* fix(autoware_vehicle_cmd_gate): remove unused variable (`#9377 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(control): missing dependency in control components (`#9073 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, ぐるぐる 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(control): missing dependency in control components (`#9073 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, ぐるぐる 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* chore(vehicle_cmd_gate): delete deprecated parameters (`#8537 `_) +* chore(vehicle_cmd_gate): delete deprecated parameters (`#8537 `_) delete deprecated params in vehicle_cmd_gate.param.yaml -* fix(autoware_vehicle_cmd_gate): fix unusedFunction (`#8556 `_) +* fix(autoware_vehicle_cmd_gate): fix unusedFunction (`#8556 `_) fix:unusedFunction -* refactor(vehicle_cmd_gate): use smaller class for filter command (`#8518 `_) -* fix(autoware_vehicle_cmd_gate): fix unreadVariable (`#8351 `_) -* feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs (`#8479 `_) +* refactor(vehicle_cmd_gate): use smaller class for filter command (`#8518 `_) +* fix(autoware_vehicle_cmd_gate): fix unreadVariable (`#8351 `_) +* feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs (`#8479 `_) * add prev_commands\_ and check cmd's time stamp * add timestamp when is_engaged is false * style(pre-commit): autofix @@ -113,7 +125,7 @@ Changelog for package autoware_vehicle_cmd_gate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* feat(autoware_vehicle_cmd_gate): check the timestamp of input topics to avoid using old topics (`#8084 `_) +* feat(autoware_vehicle_cmd_gate): check the timestamp of input topics to avoid using old topics (`#8084 `_) * add prev_commands\_ and check cmd's time stamp * add timestamp when is_engaged is false * style(pre-commit): autofix @@ -135,38 +147,38 @@ Changelog for package autoware_vehicle_cmd_gate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* fix(autoware_vehicle_cmd_gate): fix functionConst (`#8253 `_) +* fix(autoware_vehicle_cmd_gate): fix functionConst (`#8253 `_) fix: functionConst -* fix(autoware_vehicle_cmd_gate): fix cppcheck warning of functionStatic (`#8260 `_) +* fix(autoware_vehicle_cmd_gate): fix cppcheck warning of functionStatic (`#8260 `_) * fix: deal with functionStatic warnings * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_vehicle_cmd_gate): fix uninitMemberVar (`#8339 `_) +* fix(autoware_vehicle_cmd_gate): fix uninitMemberVar (`#8339 `_) fix:uninitMemberVar -* fix(autoware_vehicle_cmd_gate): fix passedByValue (`#8243 `_) +* fix(autoware_vehicle_cmd_gate): fix passedByValue (`#8243 `_) fix: passedByValue -* fix(autoware_vehicle_cmd_gate): fix funcArgNamesDifferent (`#8006 `_) +* fix(autoware_vehicle_cmd_gate): fix funcArgNamesDifferent (`#8006 `_) fix:funcArgNamesDifferent -* refactor(vehicle_cmd_gate)!: delete rate limit skipping function for vehicle departure (`#7720 `_) +* refactor(vehicle_cmd_gate)!: delete rate limit skipping function for vehicle departure (`#7720 `_) * delete a fucntion block. More appropriate function can be achieved by the parameter settings. * add notation to readme --------- -* fix(vehicle_cmd_gate): colcon test failure due to heavy process (`#7678 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(vehicle_cmd_gate): colcon test failure due to heavy process (`#7678 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(vehicle_cmd_gate): put back subscriber rather than using polling subsriber (`#7500 `_) +* fix(vehicle_cmd_gate): put back subscriber rather than using polling subsriber (`#7500 `_) put back polling subscribers to subscribers in neccesary cases -* fix(vehicle_cmd_gate): fix unnecessary modification (`#7488 `_) +* fix(vehicle_cmd_gate): fix unnecessary modification (`#7488 `_) fix onGateMode function -* feat(vehicle_cmd_gate): use polling subscriber (`#7418 `_) +* feat(vehicle_cmd_gate): use polling subscriber (`#7418 `_) * change to polling subscriber * fix --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -201,7 +213,7 @@ Changelog for package autoware_vehicle_cmd_gate * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) +* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) * add prefix autoware\_ to vehicle_cmd_gate package * fix * fix include guard diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index 0f96b84d73a12..53d658c6f99e6 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_cmd_gate - 0.42.0 + 0.43.0 The vehicle_cmd_gate package Takamasa Horibe Tomoya Kimura diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index 2ca8234274802..8a41313f95e26 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -569,6 +569,7 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands) filtered_control.longitudinal = createLongitudinalStopControlCmd(); } else { filtered_control = createStopControlCmd(); + filtered_control.stamp = commands.control.stamp; } } @@ -576,6 +577,7 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands) if (enable_cmd_limit_filter_) { // Apply limit filtering filtered_control = filterControlCommand(filtered_control); + filtered_control.stamp = commands.control.stamp; } // tmp: Publish vehicle emergency status VehicleEmergencyStamped vehicle_cmd_emergency; diff --git a/evaluator/autoware_control_evaluator/CHANGELOG.rst b/evaluator/autoware_control_evaluator/CHANGELOG.rst index 63b57a4861bab..6c2c9f5fbdafc 100644 --- a/evaluator/autoware_control_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_control_evaluator/CHANGELOG.rst @@ -2,17 +2,32 @@ Changelog for package autoware_control_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat(control_evaluator): add a new stop_deviation metric (`#10246 `_) + * add metric of stop_deviation + * fix bug + * remove unused include. + * add unit test and schema + * pre-commit + * update planning_evaluator schema + --------- + Co-authored-by: t4-adc +* Contributors: Hayato Mizushima, Kem (TiankuiXian), Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -21,8 +36,8 @@ Changelog for package autoware_control_evaluator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_control_evaluator): add new steering metrics (`#10012 `_) -* feat(autoware_control_evaluator): add new boundary_distance metrics (`#9984 `_) +* feat(autoware_control_evaluator): add new steering metrics (`#10012 `_) +* feat(autoware_control_evaluator): add new boundary_distance metrics (`#9984 `_) * add boundary_distance metric * pre-commit * use path topic instead of lanenet. @@ -33,9 +48,9 @@ Changelog for package autoware_control_evaluator * manual pre-commit --------- Co-authored-by: t4-adc -* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9858 `_) +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9858 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files evaluator/autoware_control_evaluator -* fix(autoware_control_evaluator): fix bugprone-exception-escape (`#9630 `_) +* fix(autoware_control_evaluator): fix bugprone-exception-escape (`#9630 `_) * fix: bugprone-exception-escape * fix: cpplint --------- @@ -44,19 +59,19 @@ Changelog for package autoware_control_evaluator 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - evaluator (`#9566 `_) -* fix(control_evaluator): correct goal_lateal_deviation (`#9532 `_) -* feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (`#9478 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* fix(control_evaluator): correct goal_lateal_deviation (`#9532 `_) +* feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (`#9478 `_) * refactor and add output_metrics. a bug existing when psim. * refactored launch file. * output description @@ -71,14 +86,14 @@ Changelog for package autoware_control_evaluator * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(control_evaluator): add processing time publisher (`#9339 `_) -* test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(control_evaluator): add processing time publisher (`#9339 `_) +* test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) * update unit test of control_evaluator. * manual pre-commit. --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -101,7 +116,7 @@ Changelog for package autoware_control_evaluator * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -112,13 +127,13 @@ Changelog for package autoware_control_evaluator 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) * update unit test of control_evaluator. * manual pre-commit. --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -141,7 +156,7 @@ Changelog for package autoware_control_evaluator * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -152,7 +167,7 @@ Changelog for package autoware_control_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw (`#9155 `_) +* feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw (`#9155 `_) * feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw * style(pre-commit): autofix * fix: content of kosuke55-san comments @@ -160,7 +175,7 @@ Changelog for package autoware_control_evaluator * fix: variable name --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* test(autoware_control_evaluator): add test for autoware_control_evaluator. (`#9114 `_) +* test(autoware_control_evaluator): add test for autoware_control_evaluator. (`#9114 `_) * init * tmp save. * save, there is a bug @@ -168,7 +183,7 @@ Changelog for package autoware_control_evaluator * coverage rate 64.5 * remove comments. --------- -* docs(control_evaluator): update readme (`#8829 `_) +* docs(control_evaluator): update readme (`#8829 `_) * update readme * add maintainer * Update evaluator/autoware_control_evaluator/package.xml @@ -176,11 +191,11 @@ Changelog for package autoware_control_evaluator Co-authored-by: Tiankui Xian <1041084556@qq.com> --------- Co-authored-by: Tiankui Xian <1041084556@qq.com> -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -189,15 +204,15 @@ Changelog for package autoware_control_evaluator Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) +* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) * add utils and diagnostics subscription to planning_evaluator * add diagnostics eval * fix input diag in launch --------- Co-authored-by: kosuke55 -* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) +* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) use class naming standard and use remapped param name -* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) +* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) * add route handler * add lanelet info to diagnostic * add const @@ -208,12 +223,12 @@ Changelog for package autoware_control_evaluator * add shoulder lanelets * fix includes --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) +* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) * feat(control_evaluator): rename to include/autoware/{package_name} * fix --------- diff --git a/evaluator/autoware_control_evaluator/CMakeLists.txt b/evaluator/autoware_control_evaluator/CMakeLists.txt index e01f1d2bba1f8..66885fdb5d7e1 100644 --- a/evaluator/autoware_control_evaluator/CMakeLists.txt +++ b/evaluator/autoware_control_evaluator/CMakeLists.txt @@ -27,6 +27,6 @@ endif() ament_auto_package( INSTALL_TO_SHARE - param launch + config ) diff --git a/evaluator/autoware_control_evaluator/config/control_evaluator.param.yaml b/evaluator/autoware_control_evaluator/config/control_evaluator.param.yaml new file mode 100644 index 0000000000000..6ebed026315b7 --- /dev/null +++ b/evaluator/autoware_control_evaluator/config/control_evaluator.param.yaml @@ -0,0 +1,17 @@ +/**: + ros__parameters: + planning_factor_metrics: + topic_prefix: /planning/planning_factors/ + stop_deviation: + module_list: # list of modules to be checked for stop deviation. Here we assume that the `module` inside the planning_factors should be the same as the topic name. + - blind_spot + - crosswalk + - detection_area + - intersection + - merge_from_private + - no_drivable_lane + - no_stopping_area + - stop_line + - traffic_light + - virtual_traffic_light + - walkway diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index 6646ce5fd30c9..4a309d7bf4ad1 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -30,6 +30,8 @@ #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include #include +#include +#include #include #include #include @@ -38,6 +40,8 @@ #include #include #include +#include +#include #include namespace control_diagnostics @@ -57,6 +61,8 @@ using geometry_msgs::msg::AccelWithCovarianceStamped; using MetricMsg = tier4_metric_msgs::msg::Metric; using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; using autoware_internal_planning_msgs::msg::PathWithLaneId; +using autoware_internal_planning_msgs::msg::PlanningFactor; +using autoware_internal_planning_msgs::msg::PlanningFactorArray; /** * @brief Node for control evaluation @@ -79,7 +85,8 @@ class ControlEvaluatorNode : public rclcpp::Node void AddKinematicStateMetricMsg( const Odometry & odom, const AccelWithCovarianceStamped & accel_stamped); void AddSteeringMetricMsg(const SteeringReport & steering_report); - + void AddStopDeviationMetricMsg( + const PlanningFactorArray::ConstSharedPtr & planning_factors, const std::string & module_name); void onTimer(); private: @@ -98,6 +105,11 @@ class ControlEvaluatorNode : public rclcpp::Node autoware_utils::InterProcessPollingSubscriber steering_sub_{ this, "~/input/steering_status"}; + std::unordered_map< + std::string, autoware_utils::InterProcessPollingSubscriber> + planning_factors_sub_; + std::unordered_set stop_deviation_modules_; + rclcpp::Publisher::SharedPtr processing_time_pub_; rclcpp::Publisher::SharedPtr metrics_pub_; diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp index 39ef6fa26dfa8..19b1ea7538403 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp @@ -36,6 +36,7 @@ enum class Metric { steering_angle, steering_rate, steering_acceleration, + stop_deviation, SIZE, }; @@ -50,6 +51,7 @@ static const std::unordered_map str_to_metric = { {"steering_angle", Metric::steering_angle}, {"steering_rate", Metric::steering_rate}, {"steering_acceleration", Metric::steering_acceleration}, + {"stop_deviation", Metric::stop_deviation}, }; static const std::unordered_map metric_to_str = { @@ -63,6 +65,7 @@ static const std::unordered_map metric_to_str = { {Metric::steering_angle, "steering_angle"}, {Metric::steering_rate, "steering_rate"}, {Metric::steering_acceleration, "steering_acceleration"}, + {Metric::stop_deviation, "stop_deviation"}, }; // Metrics descriptions @@ -77,6 +80,7 @@ static const std::unordered_map metric_descriptions = { {Metric::steering_angle, "Steering angle[rad]"}, {Metric::steering_rate, "Steering angle rate[rad/s]"}, {Metric::steering_acceleration, "Steering angle acceleration[rad/s^2]"}, + {Metric::stop_deviation, "Deviation to the stop line when the ego stop by a module[m]"}, }; namespace details diff --git a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml index f1415410c13e4..2306caf1a59cd 100644 --- a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml +++ b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml @@ -11,6 +11,7 @@ + diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index bac17e5bda1af..c922aa0905bb6 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_control_evaluator - 0.42.0 + 0.43.0 ROS 2 node for evaluating control Daniel SANCHEZ takayuki MUROOKA @@ -16,7 +16,9 @@ ament_cmake_auto autoware_cmake + autoware_internal_planning_msgs autoware_motion_utils + autoware_planning_factor_interface autoware_planning_msgs autoware_route_handler autoware_test_utils @@ -31,7 +33,6 @@ tf2 tf2_ros tier4_metric_msgs - tier4_planning_msgs ament_cmake_ros ament_lint_auto diff --git a/evaluator/autoware_control_evaluator/param/control_evaluator.defaults.yaml b/evaluator/autoware_control_evaluator/param/control_evaluator.defaults.yaml deleted file mode 100644 index a20dbd7ffd3d9..0000000000000 --- a/evaluator/autoware_control_evaluator/param/control_evaluator.defaults.yaml +++ /dev/null @@ -1,2 +0,0 @@ -/**: - ros__parameters: diff --git a/evaluator/autoware_control_evaluator/schema/autoware_control_evaluator.schema.json b/evaluator/autoware_control_evaluator/schema/autoware_control_evaluator.schema.json new file mode 100644 index 0000000000000..b2cd29d7ce859 --- /dev/null +++ b/evaluator/autoware_control_evaluator/schema/autoware_control_evaluator.schema.json @@ -0,0 +1,62 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Autoware Control Evaluator Nodes", + "type": "object", + "definitions": { + "autoware_control_evaluator": { + "type": "object", + "properties": { + "planning_factor_metrics": { + "description": "metrics' parameters for planning_factor evaluation", + "type": "object", + "properties": { + "topic_prefix": { + "description": "prefix of the topics to subscribe to", + "type": "string", + "default": "/planning/planning_factors/" + }, + "stop_deviation": { + "description": "stop_deviation metrics' parameters", + "type": "object", + "properties": { + "module_list": { + "description": "list of modules' name to evaluate", + "type": "array", + "items": { + "type": "string" + }, + "default": [ + "blind_spot", + "crosswalk", + "detection_area", + "intersection", + "merge_from_private", + "no_drivable_lane", + "no_stopping_area", + "stop_line", + "traffic_light", + "virtual_traffic_light", + "walkway" + ] + } + } + } + } + } + }, + "required": ["planning_factor_metrics"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/autoware_control_evaluator" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index 2d58a1eb02b37..cd922bca9eb88 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -24,9 +24,12 @@ #include #include #include +#include #include #include +#include #include +#include #include namespace control_diagnostics @@ -37,6 +40,21 @@ ControlEvaluatorNode::ControlEvaluatorNode(const rclcpp::NodeOptions & node_opti { using std::placeholders::_1; + // planning_factor subscribers + std::vector stop_deviation_modules_list = + declare_parameter>( + "planning_factor_metrics.stop_deviation.module_list"); + stop_deviation_modules_ = std::unordered_set( + stop_deviation_modules_list.begin(), stop_deviation_modules_list.end()); + + const std::string topic_prefix = + declare_parameter("planning_factor_metrics.topic_prefix"); + for (const auto & module_name : stop_deviation_modules_) { + planning_factors_sub_.emplace( + module_name, autoware_utils::InterProcessPollingSubscriber( + this, topic_prefix + module_name)); + } + // Publisher processing_time_pub_ = this->create_publisher( "~/debug/processing_time_ms", 1); @@ -328,6 +346,29 @@ void ControlEvaluatorNode::AddGoalYawDeviationMetricMsg(const Pose & ego_pose) AddMetricMsg(metric, metric_value); } +void ControlEvaluatorNode::AddStopDeviationMetricMsg( + const PlanningFactorArray::ConstSharedPtr & planning_factors, const std::string & module_name) +{ + std::optional min_distance = std::nullopt; + for (const auto & factor : planning_factors->factors) { + if (factor.behavior == PlanningFactor::STOP) { + for (const auto & control_point : factor.control_points) { + if (!min_distance || std::abs(control_point.distance) < std::abs(*min_distance)) { + min_distance = control_point.distance; + } + } + } + } + if (!min_distance) { + return; + } + + MetricMsg metric_msg; + metric_msg.name = "stop_deviation/" + module_name; + metric_msg.value = std::to_string(*min_distance); + metrics_msg_.metric_array.push_back(metric_msg); +} + void ControlEvaluatorNode::onTimer() { autoware_utils::StopWatch stop_watch; @@ -337,13 +378,14 @@ void ControlEvaluatorNode::onTimer() const auto behavior_path = behavior_path_subscriber_.take_data(); const auto steering_status = steering_sub_.take_data(); - // calculate deviation metrics + // add deviation metrics if (odom && traj && !traj->points.empty()) { const Pose ego_pose = odom->pose.pose; AddLateralDeviationMetricMsg(*traj, ego_pose.position); AddYawDeviationMetricMsg(*traj, ego_pose); } + // add goal deviation metrics getRouteData(); if (odom && route_handler_.isHandlerReady()) { const Pose ego_pose = odom->pose.pose; @@ -353,15 +395,30 @@ void ControlEvaluatorNode::onTimer() AddGoalYawDeviationMetricMsg(ego_pose); } + // add planning_factor related metrics + for (auto & [module_name, planning_factor_sub_] : planning_factors_sub_) { + const auto planning_factors = planning_factor_sub_.take_data(); + if (!planning_factors || planning_factors->factors.empty()) { + continue; + } + + if (stop_deviation_modules_.count(module_name) > 0) { + AddStopDeviationMetricMsg(planning_factors, module_name); + } + } + + // add kinematic info if (odom && acc) { AddKinematicStateMetricMsg(*odom, *acc); } + // add boundary distance metrics if (odom && behavior_path) { const Pose ego_pose = odom->pose.pose; AddBoundaryDistanceMetricMsg(*behavior_path, ego_pose); } + // add steering metrics if (steering_status) { AddSteeringMetricMsg(*steering_status); } diff --git a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp index b2dcc93855c0f..6b84a1fee8400 100644 --- a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp @@ -19,6 +19,7 @@ #include "tf2_ros/transform_broadcaster.h" #include +#include #include "autoware_planning_msgs/msg/trajectory.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" @@ -38,7 +39,10 @@ using EvalNode = control_diagnostics::ControlEvaluatorNode; using Trajectory = autoware_planning_msgs::msg::Trajectory; using TrajectoryPoint = autoware_planning_msgs::msg::TrajectoryPoint; using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; +using autoware_internal_planning_msgs::msg::PlanningFactor; +using autoware_internal_planning_msgs::msg::SafetyFactorArray; using geometry_msgs::msg::AccelWithCovarianceStamped; +using geometry_msgs::msg::Pose; using nav_msgs::msg::Odometry; constexpr double epsilon = 1e-6; @@ -51,10 +55,13 @@ class EvalTest : public ::testing::Test rclcpp::init(0, nullptr); rclcpp::NodeOptions options; + const auto share_dir = + ament_index_cpp::get_package_share_directory("autoware_control_evaluator"); const auto autoware_test_utils_dir = ament_index_cpp::get_package_share_directory("autoware_test_utils"); options.arguments( - {"--ros-args", "-p", "output_metrics:=false", "--params-file", + {"--ros-args", "-p", "output_metrics:=true", "--params-file", + share_dir + "/config/control_evaluator.param.yaml", "--params-file", autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml"}); dummy_node = std::make_shared("control_evaluator_test_node", options); @@ -76,6 +83,9 @@ class EvalTest : public ::testing::Test rclcpp::create_publisher(dummy_node, "/control_evaluator/input/odometry", 1); acc_pub_ = rclcpp::create_publisher( dummy_node, "/control_evaluator/input/acceleration", 1); + planning_factor_interface_ = + std::make_unique( + dummy_node.get(), "stop_line"); tf_broadcaster_ = std::make_unique(dummy_node); publishEgoPose(0.0, 0.0, 0.0); } @@ -169,6 +179,23 @@ class EvalTest : public ::testing::Test } return metric_value_; } + + double publishPlanningFactorAndGetStopDeviationMetric( + const double distance, const double stop_point_x, const double stop_point_y) + { + Pose stop_point = Pose(); + stop_point.position.x = stop_point_x; + stop_point.position.y = stop_point_y; + + planning_factor_interface_->add( + distance, stop_point, PlanningFactor::STOP, SafetyFactorArray({})); + planning_factor_interface_->publish(); + while (!metric_updated_) { + spin_some(); + } + return metric_value_; + } + void spin_some() { rclcpp::spin_some(eval_node); @@ -186,6 +213,9 @@ class EvalTest : public ::testing::Test rclcpp::Publisher::SharedPtr traj_pub_; rclcpp::Publisher::SharedPtr odom_pub_; rclcpp::Publisher::SharedPtr acc_pub_; + std::unique_ptr + planning_factor_interface_; + rclcpp::Subscription::SharedPtr metric_sub_; // TF broadcaster std::unique_ptr tf_broadcaster_; @@ -248,3 +278,9 @@ TEST_F(EvalTest, TestKinematicStateJerk) publishEgoAcc(0.0); EXPECT_NEAR(publishEgoAccAndGetMetric(1), 10.0, 0.5); } + +TEST_F(EvalTest, TestStopDeviation) +{ + setTargetMetric("stop_deviation/stop_line"); + EXPECT_NEAR(publishPlanningFactorAndGetStopDeviationMetric(5.0, 4.0, 3.0), 5.0, epsilon); +} diff --git a/evaluator/autoware_kinematic_evaluator/CHANGELOG.rst b/evaluator/autoware_kinematic_evaluator/CHANGELOG.rst index 4b6f8e87646b9..533c070cb78d3 100644 --- a/evaluator/autoware_kinematic_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_kinematic_evaluator/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_kinematic_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,24 +25,24 @@ Changelog for package autoware_kinematic_evaluator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `evaluator/kinematic_evaluator` (`#9936 `_) +* feat: apply `autoware\_` prefix for `evaluator/kinematic_evaluator` (`#9936 `_) * Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - evaluator (`#9566 `_) -* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) * add Accumulator class to autoware_universe_utils * use Accumulator on all evaluators. * pre-commit @@ -48,10 +54,10 @@ Changelog for package autoware_kinematic_evaluator Co-authored-by: Kosuke Takeuchi * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(evaluator): missing dependency in evaluator components (`#9074 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -61,9 +67,9 @@ Changelog for package autoware_kinematic_evaluator 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -74,12 +80,12 @@ Changelog for package autoware_kinematic_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(kinematic_evaluator): rework parameters (`#8199 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(kinematic_evaluator): rework parameters (`#8199 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -87,20 +93,20 @@ Changelog for package autoware_kinematic_evaluator 0.26.0 (2024-04-03) ------------------- -* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) -* chore: add maintainer (`#4234 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* 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> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -108,7 +114,7 @@ Changelog for package autoware_kinematic_evaluator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) +* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) * initial skeleton of localization evaluator * Add simple localization evaliuation framework * Clean and add tests diff --git a/evaluator/autoware_kinematic_evaluator/package.xml b/evaluator/autoware_kinematic_evaluator/package.xml index 6a690cc0673e7..9370f56c46095 100644 --- a/evaluator/autoware_kinematic_evaluator/package.xml +++ b/evaluator/autoware_kinematic_evaluator/package.xml @@ -1,7 +1,7 @@ autoware_kinematic_evaluator - 0.42.0 + 0.43.0 kinematic evaluator ROS 2 node Dominik Jargot diff --git a/evaluator/autoware_localization_evaluator/CHANGELOG.rst b/evaluator/autoware_localization_evaluator/CHANGELOG.rst index da1e7c1f129f2..f99eb0e1b3d8a 100644 --- a/evaluator/autoware_localization_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_localization_evaluator/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_localization_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +25,7 @@ Changelog for package autoware_localization_evaluator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `evaluator/localization_evaluator` (`#9954 `_) +* feat: apply `autoware\_` prefix for `evaluator/localization_evaluator` (`#9954 `_) * feat(localization_evaluator): apply `autoware\_` prefix (see below): * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits. @@ -38,19 +44,19 @@ Changelog for package autoware_localization_evaluator 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - evaluator (`#9566 `_) -* chore(localization_evaluator): Add some maintainers (`#9503 `_) -* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* chore(localization_evaluator): Add some maintainers (`#9503 `_) +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) * add Accumulator class to autoware_universe_utils * use Accumulator on all evaluators. * pre-commit @@ -62,10 +68,10 @@ Changelog for package autoware_localization_evaluator Co-authored-by: Kosuke Takeuchi * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(evaluator): missing dependency in evaluator components (`#9074 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -75,9 +81,9 @@ Changelog for package autoware_localization_evaluator 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -88,7 +94,7 @@ Changelog for package autoware_localization_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(evaluator/localization_evaluator): rework parameters (`#6744 `_) +* refactor(evaluator/localization_evaluator): rework parameters (`#6744 `_) * add param file and schema * style(pre-commit): autofix * . @@ -96,11 +102,11 @@ Changelog for package autoware_localization_evaluator * . --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -108,20 +114,20 @@ Changelog for package autoware_localization_evaluator 0.26.0 (2024-04-03) ------------------- -* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) -* chore: add maintainer (`#4234 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* 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> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -129,7 +135,7 @@ Changelog for package autoware_localization_evaluator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) +* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) * initial skeleton of localization evaluator * Add simple localization evaliuation framework * Clean and add tests diff --git a/evaluator/autoware_localization_evaluator/package.xml b/evaluator/autoware_localization_evaluator/package.xml index 556893f970349..f5f70ceff4d04 100644 --- a/evaluator/autoware_localization_evaluator/package.xml +++ b/evaluator/autoware_localization_evaluator/package.xml @@ -1,7 +1,7 @@ autoware_localization_evaluator - 0.42.0 + 0.43.0 localization evaluator ROS 2 node Dominik Jargot diff --git a/evaluator/autoware_perception_online_evaluator/CHANGELOG.rst b/evaluator/autoware_perception_online_evaluator/CHANGELOG.rst index 471126bb4307e..b5a6332b5cd14 100644 --- a/evaluator/autoware_perception_online_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_perception_online_evaluator/CHANGELOG.rst @@ -2,20 +2,26 @@ Changelog for package autoware_perception_online_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) +* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, Shunsuke Miura, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -24,7 +30,7 @@ Changelog for package autoware_perception_online_evaluator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `perception_online_evaluator` (`#9956 `_) +* feat: apply `autoware\_` prefix for `perception_online_evaluator` (`#9956 `_) * feat(perception_online_evaluator): apply `autoware\_` prefix (see below): * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits. @@ -49,19 +55,19 @@ Changelog for package autoware_perception_online_evaluator 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - evaluator (`#9566 `_) -* refactor(perception_online_evaluator): use tier4_metric_msgs instead of diagnostic_msgs (`#9485 `_) -* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* refactor(perception_online_evaluator): use tier4_metric_msgs instead of diagnostic_msgs (`#9485 `_) +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) * add Accumulator class to autoware_universe_utils * use Accumulator on all evaluators. * pre-commit @@ -73,10 +79,10 @@ Changelog for package autoware_perception_online_evaluator Co-authored-by: Kosuke Takeuchi * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(evaluator): missing dependency in evaluator components (`#9074 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -86,9 +92,9 @@ Changelog for package autoware_perception_online_evaluator 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -99,27 +105,27 @@ Changelog for package autoware_perception_online_evaluator 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 `_) -* fix(perception_online_evaluator): fix unusedFunction (`#8559 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(perception_online_evaluator): fix unusedFunction (`#8559 `_) fix:unusedFunction -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* fix(perception_online_evaluator): passedByValue (`#8201 `_) +* fix(perception_online_evaluator): passedByValue (`#8201 `_) fix: passedByValue -* fix(perception_online_evaluator): fix shadowVariable (`#7933 `_) +* fix(perception_online_evaluator): fix shadowVariable (`#7933 `_) * fix:shadowVariable * fix:clang-format * fix:shadowVariable --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -154,7 +160,7 @@ Changelog for package autoware_perception_online_evaluator * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* fix(perception_online_evaluator): add metric_value not only stat (`#7100 `_)(`#7118 `_) (revert of revert) (`#7167 `_) +* fix(perception_online_evaluator): add metric_value not only stat (`#7100 `_)(`#7118 `_) (revert of revert) (`#7167 `_) * Revert "fix(perception_online_evaluator): revert "add metric_value not only s…" This reverts commit d827b1bd1f4bbacf0333eb14a62ef42e56caef25. * Update evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp @@ -162,20 +168,20 @@ Changelog for package autoware_perception_online_evaluator * use emplace back --------- Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(perception_online_evaluator): revert "add metric_value not only stat (`#7100 `_)" (`#7118 `_) -* feat(perception_online_evaluator): add metric_value not only stat (`#7100 `_) -* fix(perception_online_evaluator): fix range resolution (`#7115 `_) -* chore(glog): add initialization check (`#6792 `_) -* fix(perception_online_evaluator): fix bug of constStatement (`#6922 `_) -* feat(perception_online_evaluator): imporve yaw rate metrics considering flip (`#6881 `_) +* fix(perception_online_evaluator): revert "add metric_value not only stat (`#7100 `_)" (`#7118 `_) +* feat(perception_online_evaluator): add metric_value not only stat (`#7100 `_) +* fix(perception_online_evaluator): fix range resolution (`#7115 `_) +* chore(glog): add initialization check (`#6792 `_) +* fix(perception_online_evaluator): fix bug of constStatement (`#6922 `_) +* feat(perception_online_evaluator): imporve yaw rate metrics considering flip (`#6881 `_) * feat(perception_online_evaluator): imporve yaw rate metrics considering flip * fix test --------- -* feat(perception_evaluator): counts objects within detection range (`#6848 `_) +* feat(perception_evaluator): counts objects within detection range (`#6848 `_) * feat(perception_evaluator): counts objects within detection range detection counter add enable option and refactoring @@ -188,36 +194,36 @@ Changelog for package autoware_perception_online_evaluator fix * fix include --------- -* docs(perception_online_evaluator): update metrics explanation (`#6819 `_) -* feat(perception_online_evaluator): better waitForDummyNode (`#6827 `_) -* feat(perception_online_evaluator): add predicted path variance (`#6793 `_) +* docs(perception_online_evaluator): update metrics explanation (`#6819 `_) +* feat(perception_online_evaluator): better waitForDummyNode (`#6827 `_) +* feat(perception_online_evaluator): add predicted path variance (`#6793 `_) * feat(perception_online_evaluator): add predicted path variance * add unit test * update readme * pre commit --------- -* feat(perception_online_evaluator): ignore reversal of orientation from yaw_rate calculation (`#6748 `_) -* docs(perception_online_evaluator): add description about yaw rate evaluation (`#6737 `_) +* feat(perception_online_evaluator): ignore reversal of orientation from yaw_rate calculation (`#6748 `_) +* docs(perception_online_evaluator): add description about yaw rate evaluation (`#6737 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Kyoichi Sugahara, Nagi70, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* feat(perception_online_evaluator): extract moving object for deviation check (`#6682 `_) +* feat(perception_online_evaluator): extract moving object for deviation check (`#6682 `_) fix test -* feat(perception_online_evaluator): unify debug markers instead of separating for each object (`#6681 `_) +* feat(perception_online_evaluator): unify debug markers instead of separating for each object (`#6681 `_) * feat(perception_online_evaluator): unify debug markers instead of separating for each object * fix for --------- -* feat(perception_online_evaluator): add yaw rate metrics for stopped object (`#6667 `_) +* feat(perception_online_evaluator): add yaw rate metrics for stopped object (`#6667 `_) * feat(perception_online_evaluator): add yaw rate metrics for stopped object add add test * feat: add stopped vel parameter --------- -* fix(perception_online_evaluator): fix build error (`#6595 `_) -* build(perception_online_evaluator): add lanelet_extension dependency (`#6592 `_) -* feat(perception_online_evaluator): publish metrics of each object class (`#6556 `_) -* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) +* fix(perception_online_evaluator): fix build error (`#6595 `_) +* build(perception_online_evaluator): add lanelet_extension dependency (`#6592 `_) +* feat(perception_online_evaluator): publish metrics of each object class (`#6556 `_) +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) * feat(perception_evaluator): add perception_evaluator tmp update diff --git a/evaluator/autoware_perception_online_evaluator/package.xml b/evaluator/autoware_perception_online_evaluator/package.xml index 1b3fcddcb7be5..083105a922853 100644 --- a/evaluator/autoware_perception_online_evaluator/package.xml +++ b/evaluator/autoware_perception_online_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_perception_online_evaluator - 0.42.0 + 0.43.0 ROS 2 node for evaluating perception Fumiya Watanabe Kosuke Takeuchi diff --git a/evaluator/autoware_planning_evaluator/CHANGELOG.rst b/evaluator/autoware_planning_evaluator/CHANGELOG.rst index 0143c4470620d..8b8fb6a9e9d68 100644 --- a/evaluator/autoware_planning_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_planning_evaluator/CHANGELOG.rst @@ -2,11 +2,26 @@ Changelog for package autoware_planning_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat(control_evaluator): add a new stop_deviation metric (`#10246 `_) + * add metric of stop_deviation + * fix bug + * remove unused include. + * add unit test and schema + * pre-commit + * update planning_evaluator schema + --------- + Co-authored-by: t4-adc +* Contributors: Hayato Mizushima, Kem (TiankuiXian), Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_planning_evaluator): add resampled_relative_angle metrics (`#10020 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_planning_evaluator): add resampled_relative_angle metrics (`#10020 `_) * feat(autoware_planning_evaluator): add new large_relative_angle metrics * fix copyright and vehicle_length_m * style(pre-commit): autofix @@ -26,7 +41,7 @@ Changelog for package autoware_planning_evaluator 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -35,25 +50,25 @@ Changelog for package autoware_planning_evaluator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9859 `_) +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9859 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files evaluator/autoware_planning_evaluator -* fix(planning_evaluator): update lateral_trajectory_displacement to absolute value (`#9696 `_) +* fix(planning_evaluator): update lateral_trajectory_displacement to absolute value (`#9696 `_) * fix(planning_evaluator): update lateral_trajectory_displacement to absolute value * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_planning_evaluator): rename lateral deviation metrics (`#9801 `_) +* fix(autoware_planning_evaluator): rename lateral deviation metrics (`#9801 `_) * refactor(planning_evaluator): rename and add lateral trajectory displacement metrics * fix typo --------- -* feat(planning_evaluator): add evaluation feature of trajectory lateral displacement (`#9718 `_) +* feat(planning_evaluator): add evaluation feature of trajectory lateral displacement (`#9718 `_) * feat(planning_evaluator): add evaluation feature of trajectory lateral displacement * feat(metrics_calculator): implement lookahead trajectory calculation and remove deprecated method * fix(planning_evaluator): rename lateral_trajectory_displacement to trajectory_lateral_displacement for consistency --------- -* fix(autoware_planning_evaluator): fix bugprone-exception-escape (`#9730 `_) +* fix(autoware_planning_evaluator): fix bugprone-exception-escape (`#9730 `_) fix: bugprone-exception-escape -* feat(planning_evaluator): add lateral trajectory displacement metrics (`#9674 `_) +* feat(planning_evaluator): add lateral trajectory displacement metrics (`#9674 `_) * feat(planning_evaluator): add nearest pose deviation msg * update comment contents * update variable name @@ -67,18 +82,18 @@ Changelog for package autoware_planning_evaluator 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - evaluator (`#9566 `_) -* feat(planning_evaluator): add a trigger to choice whether to output metrics to log folder (`#9476 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* feat(planning_evaluator): add a trigger to choice whether to output metrics to log folder (`#9476 `_) * tmp save * planning_evaluator build ok, test it. * add descriptions to output. @@ -87,7 +102,7 @@ Changelog for package autoware_planning_evaluator * move output_metrics from config to launch file. * fix unit test bug. --------- -* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) * add Accumulator class to autoware_universe_utils * use Accumulator on all evaluators. * pre-commit @@ -97,14 +112,14 @@ Changelog for package autoware_planning_evaluator Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* feat(planning_evaluator): add processing time pub (`#9334 `_) +* feat(planning_evaluator): add processing time pub (`#9334 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(evaluator): missing dependency in evaluator components (`#9074 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -127,7 +142,7 @@ Changelog for package autoware_planning_evaluator * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -138,9 +153,9 @@ Changelog for package autoware_planning_evaluator 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -163,7 +178,7 @@ Changelog for package autoware_planning_evaluator * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -174,8 +189,8 @@ Changelog for package autoware_planning_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_planning_evaluator): devops node dojo (`#8746 `_) -* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) +* refactor(autoware_planning_evaluator): devops node dojo (`#8746 `_) +* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) * tmp save. * publish diagnostics. * move clearDiagnostics func to head @@ -192,15 +207,15 @@ Changelog for package autoware_planning_evaluator Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix(autoware_planning_evaluator): fix unreadVariable (`#8352 `_) +* fix(autoware_planning_evaluator): fix unreadVariable (`#8352 `_) * fix:unreadVariable * fix:unreadVariable --------- -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -209,32 +224,32 @@ Changelog for package autoware_planning_evaluator Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) +* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) * add cruise and slow down diags to cruise planner * add cruise types * adjust planning eval --------- -* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) +* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) * add utils and diagnostics subscription to planning_evaluator * add diagnostics eval * fix input diag in launch --------- Co-authored-by: kosuke55 -* feat(planning_evaluator): add planning evaluator polling sub (`#7827 `_) +* feat(planning_evaluator): add planning evaluator polling sub (`#7827 `_) * WIP add polling subs * WIP * update functions * remove semicolon * use last data for modified goal --------- -* feat(planning_evaluator): add lanelet info to the planning evaluator (`#7781 `_) +* feat(planning_evaluator): add lanelet info to the planning evaluator (`#7781 `_) add lanelet info to the planning evaluator -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) +* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) * fix * fix --------- diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml index 04467beb5f1e6..2d4ceac58e4d1 100644 --- a/evaluator/autoware_planning_evaluator/package.xml +++ b/evaluator/autoware_planning_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_planning_evaluator - 0.42.0 + 0.43.0 ROS 2 node for evaluating planners Maxime CLEMENT Kyoichi Sugahara diff --git a/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json b/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json index 506cbe4c57471..f98a17b4a5eb3 100644 --- a/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json +++ b/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json @@ -6,11 +6,6 @@ "autoware_planning_evaluator": { "type": "object", "properties": { - "output_metrics": { - "description": "If true, the evaluation node writes the metrics' statics to `/autoware_metrics/-.json` when the node shut down,", - "type": "boolean", - "default": "false" - }, "ego_frame": { "description": "reference frame of ego", "type": "string", diff --git a/evaluator/autoware_scenario_simulator_v2_adapter/CHANGELOG.rst b/evaluator/autoware_scenario_simulator_v2_adapter/CHANGELOG.rst index 1e7b58a932743..0caca199d6a21 100644 --- a/evaluator/autoware_scenario_simulator_v2_adapter/CHANGELOG.rst +++ b/evaluator/autoware_scenario_simulator_v2_adapter/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_scenario_simulator_v2_adapter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,7 +22,7 @@ Changelog for package autoware_scenario_simulator_v2_adapter 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `scenario_simulator_v2_adapter` (`#9957 `_) +* feat: apply `autoware\_` prefix for `scenario_simulator_v2_adapter` (`#9957 `_) * feat(autoware_scenario_simulator_v2_adapter): apply `autoware\_` prefix (see below): * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits. @@ -36,22 +42,22 @@ Changelog for package autoware_scenario_simulator_v2_adapter 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix(cpplint): include what you use - evaluator (`#9566 `_) -* fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (`#9501 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (`#9501 `_) * 0.39.0 * fix version * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -77,22 +83,22 @@ Changelog for package autoware_scenario_simulator_v2_adapter * Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix(cpplint): include what you use - evaluator (`#9566 `_) -* fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (`#9501 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (`#9501 `_) * 0.39.0 * fix version * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -119,25 +125,25 @@ Changelog for package autoware_scenario_simulator_v2_adapter 0.39.0 (2024-11-25) ------------------- -* chore(package.xml): bump version to 0.39.0 (`#9435 `_) - * chore: update CODEOWNERS (`#9203 `_) +* chore(package.xml): bump version to 0.39.0 (`#9435 `_) + * chore: update CODEOWNERS (`#9203 `_) Co-authored-by: github-actions - * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) * refactor(time_utils): prefix package and namespace with autoware * refactor(time_utils): 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> - * feat(rtc_interface): add requested field (`#9202 `_) + * feat(rtc_interface): add requested field (`#9202 `_) * add requested feature * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> - * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) - * fix(bpp): prevent accessing nullopt (`#9204 `_) + * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) + * fix(bpp): prevent accessing nullopt (`#9204 `_) fix(bpp): calcDistanceToRedTrafficLight null - * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) * refactor: grouping functions * refactor: grouping parameters * refactor: rename member road_users_history to road_users_history\_ @@ -152,7 +158,7 @@ Changelog for package autoware_scenario_simulator_v2_adapter --------- Co-authored-by: Mamoru Sobue Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) * Moved ndt_omp into ndt_scan_matcher * Added Copyright * style(pre-commit): autofix @@ -179,64 +185,64 @@ Changelog for package autoware_scenario_simulator_v2_adapter * Fixed to pass by reference --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) - * fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) + * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) + * fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) * fix rtc_interface * fix test condition --------- - * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) + * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) * add operator request feature * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> - * feat(collision_detector): use polling subscriber (`#9213 `_) + * feat(collision_detector): use polling subscriber (`#9213 `_) use polling subscriber - * fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) + * fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) fix(diagnostic_graph_utils): reset graph when new one is reveived - * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) + * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) Reduced initial_pose_estimation.particles_num from 200 to 100 on tests - * feat(control_launch): add collision detector in launch (`#9214 `_) + * feat(control_launch): add collision detector in launch (`#9214 `_) add collision detector in launch - * chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) + * chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) * add utils test --------- - * fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely (`#9212 `_) * fix(bvp): remove expired module safely * fix: remove module id set * fix: use itr to erase expired module * fix: remove unused function --------- - * test(bpp_common): add unit test for safety check (`#9223 `_) + * test(bpp_common): add unit test for safety check (`#9223 `_) * add test for object collision * add test for more functions * add docstring * fix lane change --------- - * fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) - * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) + * fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) * fix: bugprone-misplaced-widening-cast * fix: clang-format --------- - * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) + * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) fix: bugprone-misplaced-widening-cast - * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) * fix: bugprone-misplaced-widening-cast * fix: clang-format --------- - * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) - * refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) - * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) - * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) + * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) + * refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) + * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) + * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) fix: bugprone-unused-raii - * refactor(map_based_prediction): divide objectsCallback (`#9219 `_) - * refactor(map_based_prediction): move member functions to utils (`#9225 `_) - * test(crosswalk): add unit test (`#9228 `_) - * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) + * refactor(map_based_prediction): divide objectsCallback (`#9219 `_) + * refactor(map_based_prediction): move member functions to utils (`#9225 `_) + * test(crosswalk): add unit test (`#9228 `_) + * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) fix: bugprone-incorrect-roundings - * refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) - * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) - * feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) + * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) + * feat(autoware_motion_utils): add new trajectory class (`#8693 `_) * feat(autoware_motion_utils): add interpolator * use int32_t instead of int * use int32_t instead of int @@ -263,39 +269,39 @@ Changelog for package autoware_scenario_simulator_v2_adapter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) + * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml - * feat(autoware_test_utils): add general topic dumper (`#9207 `_) - * fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) + * feat(autoware_test_utils): add general topic dumper (`#9207 `_) + * fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) Removed timer_tf\_ - * fix(autoware_rtc_interface): fix dependency (`#9237 `_) - * fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) + * fix(autoware_rtc_interface): fix dependency (`#9237 `_) + * fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) * solve issue with arc length * fix problem with points one vehicle apart from path --------- - * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) - * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) - * refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) - * chore(autoware_geography_utils): update maintainers (`#9246 `_) + * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) + * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) + * refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) + * chore(autoware_geography_utils): update maintainers (`#9246 `_) * update maintainers * add author --------- - * fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) + * fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) * RT0-33893 add checks from prev intersection * fix shadow variable * fix logic * update readme * refactor get_ego_footprint --------- - * fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) - * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) + * fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) + * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) * feat: fix launch file * chore: fix spell error * chore: fix parameters file name * chore: remove filter base --------- - * fix: missing dependency in common components (`#9072 `_) - * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * fix: missing dependency in common components (`#9072 `_) + * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) * create trajectory container package * update * update @@ -305,84 +311,84 @@ Changelog for package autoware_scenario_simulator_v2_adapter * fix cmake --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) + * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) fix: fix the wrong file name - * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) - * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) fix(dummy_diag_publisher): not use diagnostic_updater and param callback Co-authored-by: h-ohta - * fix: resolve build error of dummy diag publisher (`#1415 `_) + * fix: resolve build error of dummy diag publisher (`#1415 `_) fix merge conflict --------- Co-authored-by: Shohei Sakai Co-authored-by: h-ohta - * test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) + * test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) * add unit test for path shifter * fix unnecessary modification * fix spelling mistake * add docstring --------- - * feat(system_monitor): support loopback network interface (`#9067 `_) + * feat(system_monitor): support loopback network interface (`#9067 `_) * feat(system_monitor): support loopback network interface * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + * feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) change interface of InterpolateArray - * feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) + * feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) * feat(system_monitor): add config for network traffic monitor * fix: change function name from stop to skip --------- - * feat(detection_area)!: add retruction feature (`#9255 `_) - * fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) - * fix(bvp): use polling subscriber (`#9242 `_) + * feat(detection_area)!: add retruction feature (`#9255 `_) + * fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) + * fix(bvp): use polling subscriber (`#9242 `_) * fix(bvp): use polling subscriber * fix: use newest policy --------- - * refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) - * fix(bpp): prevent accessing nullopt (`#9269 `_) - * refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) - Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" + * refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) + * fix(bpp): prevent accessing nullopt (`#9269 `_) + * refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. - * feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) - * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) - * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) - * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) - * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) - * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + * feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) + * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) + * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) + * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) + * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) fix computation of maximum lane changing length threshold - * feat(aeb): set global param to override autoware state check (`#9263 `_) + * feat(aeb): set global param to override autoware state check (`#9263 `_) * set global param to override autoware state check * change variable to be more general * add comment * move param to control component launch * change param name to be more straightforward --------- - * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) + * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) feat(planning): add new steering factor topics for obstacle avoidance and lane changes - * chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- - * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) + * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) * RT1-8427 extending lc path for multiple lc * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> - * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) + * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) + * fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) * fix(behavior_path_planner_common): use boost intersects instead of overlaps * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp Co-authored-by: Go Sakayori --------- Co-authored-by: Go Sakayori - * ci(.github): update image tags (`#9286 `_) - * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * ci(.github): update image tags (`#9286 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) * refactor(autoware_ad_api_specs): prefix package and namespace with autoware * style(pre-commit): autofix * chore(autoware_adapi_specs): rename ad_api to adapi @@ -392,21 +398,21 @@ Changelog for package autoware_scenario_simulator_v2_adapter * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- - * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) + * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) * fix: bugprone-misplaced-widening-cast * fix: consider negative values --------- - * fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) + * fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) fix: clang-c-error - * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) + * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) fix: bugprone-incorrect-roundings - * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) - * refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) - * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) + * refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) + * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -429,17 +435,17 @@ Changelog for package autoware_scenario_simulator_v2_adapter * update unit test for test_planning/control_evaluator * manual pre-commit --------- - * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) - * chore(tvm_utility): remove tvm_utility package as it is no longer used (`#9291 `_) - * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) - * perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) - * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) + * chore(tvm_utility): remove tvm_utility package as it is no longer used (`#9291 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) + * perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) fix computation of maximum lane changing length threshold * perf: remove evecs, evals from Leaf * perf: remove evecs, evals from Leaf --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> - * test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) * modify costmap generator directory structure * rename class CostmapGenerator to CostmapGeneratorNode * unit test for object_map_utils @@ -454,32 +460,32 @@ Changelog for package autoware_scenario_simulator_v2_adapter Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi - * fix(control): missing dependency in control components (`#9073 `_) - * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) + * fix(control): missing dependency in control components (`#9073 `_) + * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) * update unit test of control_evaluator. * manual pre-commit. --------- - * fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * fix(collision_detector): skip process when odometry is not published (`#9308 `_) * subscribe odometry * fix precommit * remove unnecessary log info --------- - * feat(goal_planner): safety check with only parking path (`#9293 `_) - * refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) - * feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + * feat(goal_planner): safety check with only parking path (`#9293 `_) + * refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) + * feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) speed up by updating polygons - * fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) - * feat(autoware_trajectory): change default value of min_points (`#9315 `_) - * chore(codecov): update maintained packages (`#9316 `_) - * doc: fix links to design documents (`#9301 `_) - * fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) - * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) - * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) + * fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) + * feat(autoware_trajectory): change default value of min_points (`#9315 `_) + * chore(codecov): update maintained packages (`#9316 `_) + * doc: fix links to design documents (`#9301 `_) + * fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) + * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) * add changelog * update changelog * fix version * 0.39.0 - * refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package diff --git a/evaluator/autoware_scenario_simulator_v2_adapter/package.xml b/evaluator/autoware_scenario_simulator_v2_adapter/package.xml index d989c3cc16c36..a9fedca1a6c82 100644 --- a/evaluator/autoware_scenario_simulator_v2_adapter/package.xml +++ b/evaluator/autoware_scenario_simulator_v2_adapter/package.xml @@ -2,7 +2,7 @@ autoware_scenario_simulator_v2_adapter - 0.42.0 + 0.43.0 Node for converting autoware's messages into UserDefinedValue messages Kyoichi Sugahara Maxime CLEMENT diff --git a/launch/tier4_autoware_api_launch/CHANGELOG.rst b/launch/tier4_autoware_api_launch/CHANGELOG.rst index 8dccd20f8d54b..d0a9c84db7b02 100644 --- a/launch/tier4_autoware_api_launch/CHANGELOG.rst +++ b/launch/tier4_autoware_api_launch/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package tier4_autoware_api_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,28 +22,28 @@ Changelog for package tier4_autoware_api_launch 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) +* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu * Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package tier4_autoware_api_launch 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,25 +66,25 @@ Changelog for package tier4_autoware_api_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) -* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) +* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) +* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) * Contributors: Esteve Fernandez, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -86,13 +92,13 @@ Changelog for package tier4_autoware_api_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(tier4_autoware_api_launch): suppress rtc_controller's info (`#3020 `_) +* feat(tier4_autoware_api_launch): suppress rtc_controller's info (`#3020 `_) * feat(tier4_autoware_api_launch): suppress rtc_controller's info * Update launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat: replace tier4_ad_api_adaptor with default_ad_api (`#2438 `_) +* feat: replace tier4_ad_api_adaptor with default_ad_api (`#2438 `_) * feat: add options * fix: rosbridge max message size * feat: remove old apis @@ -100,16 +106,16 @@ Changelog for package tier4_autoware_api_launch * feat: remove external engage * feat: add deprecated api option * fix: path -* fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) -* chore: add api maintainers (`#2361 `_) -* feat: remove launch for old routing api (`#2136 `_) -* feat(autoware_api_launch): delete image base64 converter launch (`#2131 `_) +* fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) +* chore: add api maintainers (`#2361 `_) +* feat: remove launch for old routing api (`#2136 `_) +* feat(autoware_api_launch): delete image base64 converter launch (`#2131 `_) delete image base64 converter launch -* feat(tier4_autoware_api_launch): add rtc_controller to api launch (`#1919 `_) -* fix: add adapi dependency (`#1892 `_) -* feat: move adapi rviz adaptor (`#1900 `_) +* feat(tier4_autoware_api_launch): add rtc_controller to api launch (`#1919 `_) +* fix: add adapi dependency (`#1892 `_) +* feat: move adapi rviz adaptor (`#1900 `_) feat: move adapi rviz adaptor -* feat(default_ad_api): add localization api (`#1431 `_) +* feat(default_ad_api): add localization api (`#1431 `_) * feat(default_ad_api): add localization api * docs: add readme * feat: add auto initial pose @@ -129,7 +135,7 @@ Changelog for package tier4_autoware_api_launch * fix: remove needless keyword * feat: change api helper node namespace * fix: fix launch file path -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -162,7 +168,7 @@ Changelog for package tier4_autoware_api_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(default_ad_api): add routing api (`#1494 `_) +* feat(default_ad_api): add routing api (`#1494 `_) * feat(default_ad_api): add routing api * fix: build error * docs: add readme @@ -182,17 +188,17 @@ Changelog for package tier4_autoware_api_launch * feat: adaptor package * fix: helper node * fix: error handling -* feat(tier4_autoware_api_launch): add some arguments (`#1324 `_) +* feat(tier4_autoware_api_launch): add some arguments (`#1324 `_) * feat(tier4_autoware_api_launch): add some arguments * fix launch py * deal with review * deal with review * deal with review -* fix(tier4_autoware_api_launch): add group tag (`#1235 `_) -* fix(tier4_autoware_api_launch): typo (`#1047 `_) +* fix(tier4_autoware_api_launch): add group tag (`#1235 `_) +* fix(tier4_autoware_api_launch): typo (`#1047 `_) I will write release note, thank you. -* feat(tier4_autoware_api_launch): add rosbridge (`#779 `_) - * fix(image_projection_based_fusion): modify build error in rolling (`#775 `_) +* feat(tier4_autoware_api_launch): add rosbridge (`#779 `_) + * fix(image_projection_based_fusion): modify build error in rolling (`#775 `_) * feat(tier4_autoware_api_launch): add rosbridge docs(web_controller): rosbridge is automatically launched in tier4_autoware_api_launch * docs(web_controller): rosbridge is automatically launched in tier4_autoware_api_launch @@ -200,18 +206,18 @@ Changelog for package tier4_autoware_api_launch Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* chore: replace topic tools (`#986 `_) +* chore: replace topic tools (`#986 `_) * chore: replace topic tools * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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(tier4_autoware_api_launch): add tier4_autoware_api_launch package (`#658 `_) +* feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package (`#658 `_) * feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package * ci(pre-commit): autofix * fix(tier4_autoware_api_launch): fix the command in the README instructions diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml index ca126642ba3c1..c6dde22af2df6 100644 --- a/launch/tier4_autoware_api_launch/package.xml +++ b/launch/tier4_autoware_api_launch/package.xml @@ -2,7 +2,7 @@ tier4_autoware_api_launch - 0.42.0 + 0.43.0 The tier4_autoware_api_launch package Takagi, Isamu Ryohsuke Mitsudome diff --git a/launch/tier4_control_launch/CHANGELOG.rst b/launch/tier4_control_launch/CHANGELOG.rst index acd0d8c583a54..f57f596dd98a3 100644 --- a/launch/tier4_control_launch/CHANGELOG.rst +++ b/launch/tier4_control_launch/CHANGELOG.rst @@ -2,12 +2,22 @@ Changelog for package tier4_control_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat(control_validator): add diag to check control component latency (`#10240 `_) + * feat(control_validator): add diag to check control component latency + * fix: missing param + --------- +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,7 +26,7 @@ Changelog for package tier4_control_launch 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `predicted_path_checker` (`#9985 `_) +* feat: apply `autoware\_` prefix for `predicted_path_checker` (`#9985 `_) * feat(predicted_path_checker): apply `autoware\_` prefix (see below): Note: * In this commit, I did not organize a folder structure. @@ -41,21 +51,21 @@ Changelog for package tier4_control_launch 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix: autoware_glog_compontnt (`#9586 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: autoware_glog_compontnt (`#9586 `_) Fixed autoware_glog_compontnt -* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (`#9478 `_) +* feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (`#9478 `_) * refactor and add output_metrics. a bug existing when psim. * refactored launch file. * output description @@ -70,8 +80,8 @@ Changelog for package tier4_control_launch * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_control_launch): use preset.yaml to control which modules to launch for control modules (`#9351 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_control_launch): use preset.yaml to control which modules to launch for control modules (`#9351 `_) * update contro.launch for preset.xml * update options. * fix bug. @@ -86,63 +96,63 @@ Changelog for package tier4_control_launch * remove on/off option for shift decider, vehicle cmd gate, and operation mode transition manager * pre-commit --------- -* fix(collision_detector): skip process when odometry is not published (`#9308 `_) +* fix(collision_detector): skip process when odometry is not published (`#9308 `_) * subscribe odometry * fix precommit * remove unnecessary log info --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* feat(aeb): set global param to override autoware state check (`#9263 `_) +* feat(aeb): set global param to override autoware state check (`#9263 `_) * set global param to override autoware state check * change variable to be more general * add comment * move param to control component launch * change param name to be more straightforward --------- -* feat(control_launch): add collision detector in launch (`#9214 `_) +* feat(control_launch): add collision detector in launch (`#9214 `_) add collision detector in launch * Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kem (TiankuiXian), Ryohsuke Mitsudome, SakodaShintaro, Yutaka Kondo, danielsanchezaran 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(collision_detector): skip process when odometry is not published (`#9308 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(collision_detector): skip process when odometry is not published (`#9308 `_) * subscribe odometry * fix precommit * remove unnecessary log info --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* feat(aeb): set global param to override autoware state check (`#9263 `_) +* feat(aeb): set global param to override autoware state check (`#9263 `_) * set global param to override autoware state check * change variable to be more general * add comment * move param to control component launch * change param name to be more straightforward --------- -* feat(control_launch): add collision detector in launch (`#9214 `_) +* feat(control_launch): add collision detector in launch (`#9214 `_) add collision detector in launch * Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo, danielsanchezaran 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(obstacle_collision_checker): move to autoware namespace (`#9047 `_) -* fix(tier4_control_launch): fix aeb input predicted object topic name (`#8874 `_) +* refactor(obstacle_collision_checker): move to autoware namespace (`#9047 `_) +* fix(tier4_control_launch): fix aeb input predicted object topic name (`#8874 `_) fix aeb input predicted object topic -* feat(autonomous_emergency_braking): add some tests to aeb (`#8126 `_) +* feat(autonomous_emergency_braking): add some tests to aeb (`#8126 `_) * add initial tests * add more tests * more tests @@ -157,13 +167,13 @@ Changelog for package tier4_control_launch * add briefs * delete repeated test --------- -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* fix(control_launch): fix control launch control_evaluator plugin name (`#7846 `_) +* fix(control_launch): fix control launch control_evaluator plugin name (`#7846 `_) fix control evaluator plugin name -* refactor(tier4_control_launch): replace python launch with xml (`#7682 `_) +* refactor(tier4_control_launch): replace python launch with xml (`#7682 `_) * refactor: add xml version of control launch * refactor: remove python version of control launch * set default value of trajectory_follower_mode @@ -177,9 +187,9 @@ Changelog for package tier4_control_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi Co-authored-by: Kotaro Yoshimoto -* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) +* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) use class naming standard and use remapped param name -* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) +* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) * add route handler * add lanelet info to diagnostic * add const @@ -190,8 +200,8 @@ Changelog for package tier4_control_launch * add shoulder lanelets * fix includes --------- -* fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name (`#7666 `_) -* feat(autonomous_emergency_braking): add predicted object support for aeb (`#7548 `_) +* fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name (`#7666 `_) +* feat(autonomous_emergency_braking): add predicted object support for aeb (`#7548 `_) * add polling sub to predicted objects * WIP requires changing path frame to map * add parameters and reuse predicted obj speed @@ -206,31 +216,31 @@ Changelog for package tier4_control_launch * add utils.cpp * remove _ for non member variable --------- -* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) +* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) * feat(control_evaluator): rename to include/autoware/{package_name} * fix --------- -* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) -* feat(control_evaluator): add deviation metrics and queue for diagnostics (`#7484 `_) -* refactor(operation_mode_transition_manager): prefix package and namespace with autoware\_ (`#7291 `_) +* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) +* feat(control_evaluator): add deviation metrics and queue for diagnostics (`#7484 `_) +* refactor(operation_mode_transition_manager): prefix package and namespace with autoware\_ (`#7291 `_) * RT1-6682 add prefix package and namespace with autoware\_ * RT1-6682 fix package's description --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats * remove autoware\_ prefix from launch arg option --------- -* refactor(shift_decider): prefix package and namespace with autoware\_ (`#7310 `_) +* refactor(shift_decider): prefix package and namespace with autoware\_ (`#7310 `_) * RT1-6684 add autoware prefix and namespace * RT1-6684 Revert svg This reverts commit 4e0569e4796ab432c734905fb7f2106779575e29. --------- Co-authored-by: Takayuki Murooka -* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) +* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) Fixed a mistake when adding prefixes -* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) +* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) * add prefix to the code * rename * fix @@ -239,7 +249,7 @@ Changelog for package tier4_control_launch * Update .github/CODEOWNERS --------- Co-authored-by: Takayuki Murooka -* refactor(control_validator)!: prefix package and namespace with autoware (`#7304 `_) +* refactor(control_validator)!: prefix package and namespace with autoware (`#7304 `_) * rename folders * rename add prefix * change param path @@ -249,15 +259,15 @@ Changelog for package tier4_control_launch * add namespace to address conflict * delete stubborn file --------- -* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) +* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) refactor(external_cmd_selector): prefix package and namespace with autoware\_ -* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) +* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) * add prefix autoware\_ to vehicle_cmd_gate package * fix * fix include guard * fix pre-commit --------- -* feat(autonomous_emergency_braking): prefix package and namespace with autoware\_ (`#7294 `_) +* feat(autonomous_emergency_braking): prefix package and namespace with autoware\_ (`#7294 `_) * change package name * add the prefix * change option @@ -265,14 +275,14 @@ Changelog for package tier4_control_launch * eliminate some prefixes that are not required * fix node name --------- -* chore(smart_mpc_trajectory_follower): add prefix autoware\_ to smart_mpc_trajectory_follower (`#7367 `_) +* chore(smart_mpc_trajectory_follower): add prefix autoware\_ to smart_mpc_trajectory_follower (`#7367 `_) * add prefix * fix pre-commit --------- -* refactor(lane_departure_checker)!: prefix package and namespace with autoware (`#7325 `_) +* refactor(lane_departure_checker)!: prefix package and namespace with autoware (`#7325 `_) * add prefix autoware\_ to lane_departure_checker package --------- -* feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower (`#6805 `_) +* feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower (`#6805 `_) * feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower * style(pre-commit): autofix * modified control.launch.py @@ -294,7 +304,7 @@ Changelog for package tier4_control_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Kosuke Takeuchi -* feat(control_evaluator): implement a control evaluator (`#6959 `_) +* feat(control_evaluator): implement a control evaluator (`#6959 `_) * add control evaluator module * make the evaluator depend on messages from AEB * update output msg @@ -303,9 +313,9 @@ Changelog for package tier4_control_launch * add a package mantainer * Add a timer to maintain a constant rate of msg publishing --------- -* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) +* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) This reverts commit 51b5f830780eb69bd1a7dfe60e295773f394fd8e. -* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) +* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) * feat(launch): add logging_demo::LoggerConfig into container * fix(logger_level_reconfigure_plugin): fix yaml * feat(logging_level_configure): add composable node @@ -314,20 +324,20 @@ Changelog for package tier4_control_launch 0.26.0 (2024-04-03) ------------------- -* feat: enable multithreading for the control container (`#6666 `_) -* feat(pid_longitudinal_controller): add maker for stop reason (`#6579 `_) +* feat: enable multithreading for the control container (`#6666 `_) +* feat(pid_longitudinal_controller): add maker for stop reason (`#6579 `_) * feat(pid_longitudinal_controller): add maker for stop reason * minor fix --------- -* chore(tier4_control_launch): fix control validator name duplication (`#6446 `_) -* feat(tier4_control_launch): run control_validator out of main control container (`#6435 `_) -* feat(tier4_control_launch): add launch argument for predicted path checker (`#5186 `_) -* feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) - * feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) +* chore(tier4_control_launch): fix control validator name duplication (`#6446 `_) +* feat(tier4_control_launch): run control_validator out of main control container (`#6435 `_) +* feat(tier4_control_launch): add launch argument for predicted path checker (`#5186 `_) +* feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) + * feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) * Added pkg to control.launch.py --------- -* fix(operation_mode_transition_manager): check trajectory_follower_cmd for engage condition (`#5038 `_) -* feat(glog): add glog in planning and control modules (`#4714 `_) +* fix(operation_mode_transition_manager): check trajectory_follower_cmd for engage condition (`#5038 `_) +* feat(glog): add glog in planning and control modules (`#4714 `_) * feat(glog): add glog component * formatting * remove namespace @@ -343,7 +353,7 @@ Changelog for package tier4_control_launch * add copyright --------- Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* feat(control_validator): measure predicted path deviation from trajectory (`#4549 `_) +* feat(control_validator): measure predicted path deviation from trajectory (`#4549 `_) * add feature for getting predicted path deviation from trajectory * fix for build success * fix topic name @@ -364,7 +374,7 @@ Changelog for package tier4_control_launch * change maintainer * refactor * style(pre-commit): autofix - * feat(dynamic_avoidance): object polygon based drivable area generation (`#4598 `_) + * feat(dynamic_avoidance): object polygon based drivable area generation (`#4598 `_) * update * update README * fix typo @@ -377,16 +387,16 @@ Changelog for package tier4_control_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka Co-authored-by: Takamasa Horibe -* feat(shift_decider): send current gear if the autoware state is not driving (`#3684 `_) -* feat(vehicle_cmd_gate): do not send current gear if autoware is not engaged (`#3683 `_) +* feat(shift_decider): send current gear if the autoware state is not driving (`#3684 `_) +* feat(vehicle_cmd_gate): do not send current gear if autoware is not engaged (`#3683 `_) This reverts commit be3138545d6814a684a314a7dbf1ffb450f90970. -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -394,31 +404,31 @@ Changelog for package tier4_control_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(control_launch): add necessary parameter (`#3235 `_) -* feat(tier4_control_launch): add check_external_emergency_heartbeat option (`#3079 `_) -* feat(control): add autonomous emergency braking module (`#2793 `_) -* feat(vehicle_cmd_gate): enable filter with actual steer in manual mode (`#2717 `_) +* fix(control_launch): add necessary parameter (`#3235 `_) +* feat(tier4_control_launch): add check_external_emergency_heartbeat option (`#3079 `_) +* feat(control): add autonomous emergency braking module (`#2793 `_) +* feat(vehicle_cmd_gate): enable filter with actual steer in manual mode (`#2717 `_) * feature(vehicle_cmd_gate): enable filter with actual steer in manual mode * update parameters based on experiment * update launch * update param --------- -* feat(longitudinal_controller): skip integral in manual mode (`#2619 `_) +* feat(longitudinal_controller): skip integral in manual mode (`#2619 `_) * feat(longitudinal_controller): skip integral in manual mode * change control_mode to operation_mode * fix test -* chore(control_launch): add maintainer (`#2758 `_) -* feat(vehicle_cmd_gate): send current gear if autoware is not engaged (`#2555 `_) +* chore(control_launch): add maintainer (`#2758 `_) +* feat(vehicle_cmd_gate): send current gear if autoware is not engaged (`#2555 `_) * feat(vehicle_cmd_gate): send current gear if autoware is not engaged * ci(pre-commit): autofix * add topic map to launch file Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_control_launch): remove parameter definition in control.launch.py (`#2585 `_) +* refactor(tier4_control_launch): remove parameter definition in control.launch.py (`#2585 `_) * refactor trajectory_follower_node's param * organize parameter definition in control_launch * fix typo * fix failed test -* feat(trajectory_follower): seperate lat lon controller packages (`#2580 `_) +* feat(trajectory_follower): seperate lat lon controller packages (`#2580 `_) * feat(trajectory_follower): seperate controller implementation packages * update doc * fix doc @@ -427,14 +437,14 @@ Changelog for package tier4_control_launch * rename to trajectory_follower_base, trajectory_follower_node * fix doc * remove unnecessary change -* feat(tier4_control_launch): remove configs and move to autoware_launch (`#2544 `_) +* feat(tier4_control_launch): remove configs and move to autoware_launch (`#2544 `_) * feat(tier4_control_launch): remove configs and move to autoware_launch * remove config * Update launch/tier4_control_launch/README.md Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: kminoda -* fix(tier4_control_launch): add parameter about nearest search (`#2542 `_) -* feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) +* fix(tier4_control_launch): add parameter about nearest search (`#2542 `_) +* 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 @@ -448,18 +458,18 @@ Changelog for package tier4_control_launch * fix from TakaHoribe review * fix typo * refactor -* refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) -* fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) +* refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) +* 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> -* feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) +* 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 -* feat(operation_mode_transition_manager): modify transition timeout (`#2318 `_) +* feat(operation_mode_transition_manager): modify transition timeout (`#2318 `_) feat(operation_mode_transition_manager): modify mode change in transition -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers @@ -521,7 +531,7 @@ Changelog for package tier4_control_launch * fix(emergency_handler): fix acronyms case * chore(tier4_system_launch): add a mrm comfortable stop parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(operation_mode_transition_manager): support ad api (`#1535 `_) +* 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 @@ -540,18 +550,18 @@ Changelog for package tier4_control_launch * 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(tier4_control_launch): add obstacle_collision_checker in control.launch.py (`#2193 `_) +* feat(tier4_control_launch): add obstacle_collision_checker in control.launch.py (`#2193 `_) Co-authored-by: Berkay Karaman -* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(control_launch): add longitudinal controller mode (`#2062 `_) +* feat(control_launch): add longitudinal controller mode (`#2062 `_) feature(control_launch): add longitudinal controller mode -* fix: modified to reflect the argument "initial_selector_mode" in control_launch (`#1961 `_) -* refactor: replace acc calculation in planning control modules (`#1213 `_) +* fix: modified to reflect the argument "initial_selector_mode" in control_launch (`#1961 `_) +* refactor: replace acc calculation in planning control modules (`#1213 `_) * [obstacle_cruise_planner] replace acceleration calculation * [obstacle_stop_planner] replace acceleration calculation * [trajectory_follower] replace acceleration calculation @@ -559,12 +569,12 @@ Changelog for package tier4_control_launch * fix nullptr check * fix controller test * fix -* feat(shift_decider): add config file (`#1857 `_) +* feat(shift_decider): add config file (`#1857 `_) * feat(shift_decider): add config file * feat(tier4_control_launch): add shift_decider.param.yaml * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(shift_decider): put the gear in park when vehicle reaches the goal (`#1818 `_) +* feat(shift_decider): put the gear in park when vehicle reaches the goal (`#1818 `_) * feat(shift_decider): put the gear in park when vehicle reaches the goal * ci(pre-commit): autofix * feat(shift_decider): check /autoware/state subscriber in timer function @@ -574,8 +584,8 @@ Changelog for package tier4_control_launch * feat(shift_decider): add park_on_goal flag * feat(tier4_control_launch): add park_on_goal param for shift_decider Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) - * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) +* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) + * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) function added, not turning fix the always positive curvature problem @@ -619,7 +629,7 @@ Changelog for package tier4_control_launch * ci(pre-commit): autofix Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -652,9 +662,9 @@ Changelog for package tier4_control_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore(trajectory_follower_nodes): remove the remaining latlon_muxer (`#1592 `_) -* feat(trajectory_follower): keep stop until the steering control is done (`#1672 `_) -* fix(velocity_controller, mpc_follower): use common ego nearest search (`#1590 `_) +* chore(trajectory_follower_nodes): remove the remaining latlon_muxer (`#1592 `_) +* feat(trajectory_follower): keep stop until the steering control is done (`#1672 `_) +* fix(velocity_controller, mpc_follower): use common ego nearest search (`#1590 `_) * fix(trajectory_follower): use common ego nearest search * removed calcNearestIndex * add nearest search param @@ -662,14 +672,14 @@ Changelog for package tier4_control_launch * fix * Update launch/tier4_control_launch/launch/control.launch.py * update test fil -* fix(tier4_control_launch): pass vehicle_info_param to trajectory_follower (`#1450 `_) -* refactor(trajectory_follower_nodes): use max_steer_angle in common (`#1422 `_) +* fix(tier4_control_launch): pass vehicle_info_param to trajectory_follower (`#1450 `_) +* refactor(trajectory_follower_nodes): use max_steer_angle in common (`#1422 `_) * refactor(trajectory_follower_nodes): use max_steer_angle in common * remove parameters from tier4_control_launch * fix -* feat(tier4_control_launch): declare param path argument (`#1432 `_) -* fix(operation_mode_transition_manager): add required param (`#1342 `_) -* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) +* feat(tier4_control_launch): declare param path argument (`#1432 `_) +* fix(operation_mode_transition_manager): add required param (`#1342 `_) +* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) * add engage_transition_manager * rename to operation mode transition manager * fix precommit @@ -680,55 +690,55 @@ Changelog for package tier4_control_launch * add allow_autonomous_in_stopped * fix typo * fix precommit -* feat(trajectory_follower): add min_prediction_length to mpc (`#1171 `_) +* feat(trajectory_follower): add min_prediction_length to mpc (`#1171 `_) * feat(trajectory_follower): Add min_prediction_length to mpc * refactor -* feat(vehicle cmd gate): add transition filter (`#1244 `_) +* feat(vehicle cmd gate): add transition filter (`#1244 `_) * feat(vehicle_cmd_gate): add transition filter * fix precommit * remove debug code * update param yaml * update readme * fix default topic name -* feat(trajectory_follower): integrate latlon controller (`#901 `_) +* feat(trajectory_follower): integrate latlon controller (`#901 `_) * feat(trajectory_follower): integrate latlon controller * Remove unnecessary throw error * update from review comment * Set steer converged params false * Update params of design.md Co-authored-by: Takamasa Horibe -* feat(longitudinal_controller): add disable emergency option (`#1201 `_) +* feat(longitudinal_controller): add disable emergency option (`#1201 `_) * feat(longitudinal_controller): add disable emergency option * update readme * add param -* refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) +* refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* perf(trajectory_follower_nodes): change longitudinal control to use period parameter (`#763 `_) +* style: fix format of package.xml (`#844 `_) +* perf(trajectory_follower_nodes): change longitudinal control to use period parameter (`#763 `_) * perf(trajectory_follower_nodes): change longitudinal control to use period parameter * perf(trajectory_follower_nodes): remove duplicate ros parameters in 'control.launch.py' * doc(trajectory_follower_nodes): update design doc according to code update * ci(pre-commit): autofix Co-authored-by: Shark Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: add pure_pursuit as lateral controller into launch files (`#750 `_) -* fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) +* fix: add pure_pursuit as lateral controller into launch files (`#750 `_) +* fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) * fix(longitudinal_controller_node): parameterize stopped state entry condition * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE * fix(vehicle_cmd_gate): check time duration since the vehicle stopped -* fix(control_launch): change default mpc param to improve performance (`#667 `_) -* fix(trajectory_follower): change stop check speed threshold to almost 0 (`#473 `_) +* fix(control_launch): change default mpc param to improve performance (`#667 `_) +* fix(trajectory_follower): change stop check speed threshold to almost 0 (`#473 `_) * fix(trajectory_follower): change stop check speed threshold to 0 * change default parameter -* fix(trajectory_follower): change default param for curvature smoothing (`#498 `_) -* feat: change launch package name (`#186 `_) +* fix(trajectory_follower): change default param for curvature smoothing (`#498 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index f35f02e1d0a80..4e83d7e421cb3 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -201,6 +201,7 @@ + diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index 10d1c1664e7ce..26b4b1c6e095e 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -2,7 +2,7 @@ tier4_control_launch - 0.42.0 + 0.43.0 The tier4_control_launch package Takamasa Horibe Takayuki Murooka diff --git a/launch/tier4_localization_launch/CHANGELOG.rst b/launch/tier4_localization_launch/CHANGELOG.rst index a1df9d90cab36..48c8bdc620c73 100644 --- a/launch/tier4_localization_launch/CHANGELOG.rst +++ b/launch/tier4_localization_launch/CHANGELOG.rst @@ -2,10 +2,16 @@ Changelog for package tier4_localization_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(tier4_localization_launch): add missing exec_depend (`#10128 `_) +* fix(tier4_localization_launch): add missing exec_depend (`#10128 `_) * fix(tier4_localization_launch): add missing exec_depend * add exec_depend for localization * Revert "add exec_depend for localization" @@ -15,7 +21,7 @@ Changelog for package tier4_localization_launch 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -24,28 +30,28 @@ Changelog for package tier4_localization_launch 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) +* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu * Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -55,9 +61,9 @@ Changelog for package tier4_localization_launch 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -68,20 +74,20 @@ Changelog for package tier4_localization_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix -* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) +* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) * import lanelet2_map_preprocessor * move headers to include/autoware/efk_localier --------- -* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) * add autoware\_ prefix * fix link --------- Co-authored-by: SakodaShintaro -* chore(stop_filter): extract stop_filter.param.yaml to autoware_launch (`#8681 `_) +* chore(stop_filter): extract stop_filter.param.yaml to autoware_launch (`#8681 `_) Extract stop_filter.param.yaml to autoware_launch -* feat(localization): add `lidar_marker_localizer` (`#5573 `_) +* feat(localization): add `lidar_marker_localizer` (`#5573 `_) * Added lidar_marker_localizer * style(pre-commit): autofix * fix launch file @@ -203,39 +209,39 @@ Changelog for package tier4_localization_launch Co-authored-by: yamato-ando Co-authored-by: Yamato Ando Co-authored-by: yamato-ando -* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) +* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) +* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) * add autoware\_ prefix * add autoware\_ prefix * fix link for landmark_based_localizer * remove Shadowing --------- Co-authored-by: SakodaShintaro -* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) +* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) * add autoware\_ prefix * add missing header * use target_include_directories instead * add autoware\_ prefix --------- -* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) +* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) add autoware\_ prefix -* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) +* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) * add autoware\_ prefix * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: SakodaShintaro -* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) +* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) * add autoware\_ prefix * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -249,25 +255,25 @@ Changelog for package tier4_localization_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* chore(localization, map): remove maintainer (`#7940 `_) -* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) * refactor(stop_filter): prefix package and namespace with autoware * fix launch files and update CODEOWNERS --------- -* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) * Added prefix "autoware\_" to ar_tag_based_localizer * style(pre-commit): autofix * Fixed localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) +* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) Co-authored-by: M. Fatih Cırıt * Contributors: Amadeusz Szymko, Esteve Fernandez, Masaki Baba, SakodaShintaro, TaikiYamada4, Yutaka Kondo, kminoda, melike tanrikulu 0.26.0 (2024-04-03) ------------------- -* feat(pose_initilizer): set intial pose directly (`#6692 `_) +* feat(pose_initilizer): set intial pose directly (`#6692 `_) * feat(pose_initilizer): set intial pose directly * style(pre-commit): autofix * fix arg order @@ -286,25 +292,25 @@ Changelog for package tier4_localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): change the default input pointcloud of localization into the concatenated pointcloud (`#6528 `_) +* feat(tier4_localization_launch): change the default input pointcloud of localization into the concatenated pointcloud (`#6528 `_) refactor lacun argument lidar_container_name to localization_pointcloud_container_name -* fix(ar_tag_based_localizer): add ar tag based localizer param (`#6390 `_) +* fix(ar_tag_based_localizer): add ar tag based localizer param (`#6390 `_) Added ar_tag_based_localizer_param_path -* chore(tier4_localization_launch): add maintainer (`#6350 `_) +* chore(tier4_localization_launch): add maintainer (`#6350 `_) add maintainer -* chore(ndt scan matcher): rename config path (`#6333 `_) +* chore(ndt scan matcher): rename config path (`#6333 `_) * refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py * style(pre-commit): autofix * chore(ndt_scan_matcher): rename config path * rename path --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py (`#6287 `_) +* refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py (`#6287 `_) * refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pose_estimator_arbiter): add pose_estimator_arbiter with simple switching rule (`#6144 `_) +* feat(pose_estimator_arbiter): add pose_estimator_arbiter with simple switching rule (`#6144 `_) * implement pose_estimator_manager pkg * tmp * swap ndt & yabloc @@ -427,7 +433,7 @@ Changelog for package tier4_localization_launch * remove obsolete args --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(twist2accel): rework parameters (`#6266 `_) +* chore(twist2accel): rework parameters (`#6266 `_) * Added twist2accel.param.yaml * Added twist2accel.schema.json * Fixed README.md and description @@ -435,7 +441,7 @@ Changelog for package tier4_localization_launch * Removed default parameters --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) +* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) * feat!: replace use_pointcloud_container * feat: remove from planning * fix: fix to remove all use_pointcloud_container @@ -453,21 +459,21 @@ Changelog for package tier4_localization_launch * fix: fix pre-commit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml (`#6041 `_) +* refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml (`#6041 `_) Fixed ndt_scan_matcher.launch.xml -* refactor(ar_tag_based_localizer): refactor pub/sub and so on (`#5854 `_) +* refactor(ar_tag_based_localizer): refactor pub/sub and so on (`#5854 `_) * Fixed ar_tag_based_localizer pub/sub * Remove dependency on image_transport --------- -* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) +* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) rename lidar topic Co-authored-by: yamato-ando -* feat(localization): add `pose_instability_detector` (`#5439 `_) +* feat(localization): add `pose_instability_detector` (`#5439 `_) * Added pose_instability_detector * Renamed files * Fixed parameter name @@ -510,7 +516,7 @@ Changelog for package tier4_localization_launch * Updated rqt_runtime_monitor.png --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(geo_pose_projector): use geo_pose_projector in eagleye (`#5513 `_) +* feat(geo_pose_projector): use geo_pose_projector in eagleye (`#5513 `_) * feat(tier4_geo_pose_projector): use tier4_geo_pose_projector in eagleye * style(pre-commit): autofix * fix(eagleye): split fix2pose @@ -532,7 +538,7 @@ Changelog for package tier4_localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(eagleye): split fix2pose (`#5506 `_) +* feat(eagleye): split fix2pose (`#5506 `_) * fix(eagleye): split fix2pose * style(pre-commit): autofix * fix name: fuser -> fusion @@ -541,7 +547,7 @@ Changelog for package tier4_localization_launch * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(landmark_based_localizer): refactored landmark_tf_caster (`#5414 `_) +* refactor(landmark_based_localizer): refactored landmark_tf_caster (`#5414 `_) * Removed landmark_tf_caster node * Added maintainer * style(pre-commit): autofix @@ -555,18 +561,18 @@ Changelog for package tier4_localization_launch * Fixed Marker to MarkerArray --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) +* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) * add raw image subscriber * update README * improve format and variable names --------- -* feat(pose_twist_estimator): automatically initialize pose only with gnss (`#5115 `_) -* fix(tier4_localization_launch): fixed exec_depend (`#5075 `_) +* feat(pose_twist_estimator): automatically initialize pose only with gnss (`#5115 `_) +* fix(tier4_localization_launch): fixed exec_depend (`#5075 `_) * Fixed exec_depend * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ar_tag_based_localizer): split the package `ar_tag_based_localizer` (`#5043 `_) +* feat(ar_tag_based_localizer): split the package `ar_tag_based_localizer` (`#5043 `_) * Fix package name * Removed utils * Renamed tag_tf_caster to landmark_tf_caster @@ -582,7 +588,7 @@ Changelog for package tier4_localization_launch * Fixed ArTagDetector to ArTagBasedLocalizer --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ar_tag_based_localizer): add ekf_pose subscriber (`#4946 `_) +* feat(ar_tag_based_localizer): add ekf_pose subscriber (`#4946 `_) * Fixed qos * Fixed camera_frame\_ * Fixed for awsim @@ -603,7 +609,7 @@ Changelog for package tier4_localization_launch * Added comments to param.yaml --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ar_tag_based_localizer): added small changes (`#4885 `_) +* fix(ar_tag_based_localizer): added small changes (`#4885 `_) * Fixed qos * Fixed camera_frame\_ * Fixed for awsim @@ -614,7 +620,7 @@ Changelog for package tier4_localization_launch * Updated README.md * Fixed distance_threshold to 13m --------- -* feat(localization): add a new localization package `ar_tag_based_localizer` (`#4347 `_) +* feat(localization): add a new localization package `ar_tag_based_localizer` (`#4347 `_) * Added ar_tag_based_localizer * style(pre-commit): autofix * Added include @@ -667,7 +673,7 @@ Changelog for package tier4_localization_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) +* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) * feat(yabloc_monitor): add yabloc_monitor * style(pre-commit): autofix * add readme @@ -701,14 +707,14 @@ Changelog for package tier4_localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_localization_launch): change input/pointcloud param (`#4411 `_) +* refactor(tier4_localization_launch): change input/pointcloud param (`#4411 `_) * refactor(tier4_localization_launch): change input/pointcloud param * parameter renaming moved util.launch.py -* feat(yabloc): change namespace (`#4389 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -733,7 +739,7 @@ Changelog for package tier4_localization_launch * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -879,26 +885,26 @@ Changelog for package tier4_localization_launch * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -909,18 +915,18 @@ Changelog for package tier4_localization_launch * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -928,42 +934,42 @@ Changelog for package tier4_localization_launch * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -977,47 +983,47 @@ Changelog for package tier4_localization_launch * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -1028,8 +1034,8 @@ Changelog for package tier4_localization_launch * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -1038,8 +1044,8 @@ Changelog for package tier4_localization_launch * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -1047,15 +1053,15 @@ Changelog for package tier4_localization_launch * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -1064,7 +1070,7 @@ Changelog for package tier4_localization_launch * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common @@ -1148,13 +1154,13 @@ Changelog for package tier4_localization_launch Co-authored-by: Akihiro Komori 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> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -1162,7 +1168,7 @@ Changelog for package tier4_localization_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat: add gnss/imu localizer (`#3063 `_) +* feat: add gnss/imu localizer (`#3063 `_) * Add gnss_imu_localizar * Fix twist switching bug * Fix spell and reformat @@ -1197,19 +1203,19 @@ Changelog for package tier4_localization_launch * List the packages that depend on map4_localization_launch correctly * Ran precommit locally --------- -* chore(tier4_localization_launch): add maintainer (`#3133 `_) -* chore(ekf_localizer): move parameters to its dedicated yaml file (`#3039 `_) +* chore(tier4_localization_launch): add maintainer (`#3133 `_) +* chore(ekf_localizer): move parameters to its dedicated yaml file (`#3039 `_) * chores(ekf_localizer): move parameters to its dedicated yaml file * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) +* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) * Support GNSS/IMU pose estimator * style(pre-commit): autofix * Revert gnss/imu support @@ -1237,7 +1243,7 @@ Changelog for package tier4_localization_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohei Sasaki Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_localization_launch): remove configs and move to autoware_launch (`#2537 `_) +* feat(tier4_localization_launch): remove configs and move to autoware_launch (`#2537 `_) * feat(tier4_localization_launch): remove configs and move to autoware_launch * update readme * Update launch/tier4_localization_launch/README.md @@ -1247,18 +1253,18 @@ Changelog for package tier4_localization_launch * update readme * pre-commit Co-authored-by: Yamato Ando -* feat(tier4_localization_launch): pass pc container to localization (`#2114 `_) +* feat(tier4_localization_launch): pass pc container to localization (`#2114 `_) * feature(tier4_localization_launch): pass pc container to localization * ci(pre-commit): autofix * feature(tier4_localization_launch): update util.launch.xml * feature(tier4_localization_launch): update use container param value Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt): remove ndt package (`#2053 `_) +* feat(ndt): remove ndt package (`#2053 `_) * first commit * CMakeLists.txt does not work........ * build works @@ -1273,8 +1279,8 @@ Changelog for package tier4_localization_launch * removed default parameter from search_method * small fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: add adapi dependency (`#1892 `_) -* feat(pose_initializer)!: support ad api (`#1500 `_) +* fix: add adapi dependency (`#1892 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -1290,18 +1296,18 @@ Changelog for package tier4_localization_launch * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): manual sync with tier4/localization_launch (`#1442 `_) +* feat(tier4_localization_launch): manual sync with tier4/localization_launch (`#1442 `_) * feat(tier4_localization_launch): manual sync with tier4/localization_launch * ci(pre-commit): autofix * fix * revert modification Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ekf_localizer): rename biased pose topics (`#1787 `_) +* fix(ekf_localizer): rename biased pose topics (`#1787 `_) * fix(ekf_localizer): rename biased pose topics * Update topic descriptions in README Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat(default_ad_api): add localization api (`#1431 `_) +* feat(default_ad_api): add localization api (`#1431 `_) * feat(default_ad_api): add localization api * docs: add readme * feat: add auto initial pose @@ -1321,7 +1327,7 @@ Changelog for package tier4_localization_launch * fix: remove needless keyword * feat: change api helper node namespace * fix: fix launch file path -* chore(localization packages, etc): modify maintainer and e-mail address (`#1661 `_) +* chore(localization packages, etc): modify maintainer and e-mail address (`#1661 `_) * chore(localization packages, etc): modify maintainer and e-mail address * remove indent * add authors @@ -1334,7 +1340,7 @@ Changelog for package tier4_localization_launch * add author Co-authored-by: Yukihiro Saito Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(ekf_localizer): enable enable_yaw_bias (`#1601 `_) +* fix(ekf_localizer): enable enable_yaw_bias (`#1601 `_) * fix(ekf_localizer): enable enable_yaw_bias * remove proc_stddev_yaw_bias from ekf * ci(pre-commit): autofix @@ -1343,33 +1349,33 @@ Changelog for package tier4_localization_launch * fixed minor bugs * change default parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ndt_scan_matcher): fix default parameter to 0.0225 (`#1583 `_) +* fix(ndt_scan_matcher): fix default parameter to 0.0225 (`#1583 `_) * fix(ndt_scan_matcher): fix default parameter to 0.0225 * added a sidenote * added a sidenote -* feat(localization_error_monitor): change subscribing topic type (`#1532 `_) +* feat(localization_error_monitor): change subscribing topic type (`#1532 `_) * feat(localization_error_monitor): change subscribing topic type * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): declare param path argument (`#1404 `_) +* feat(tier4_localization_launch): declare param path argument (`#1404 `_) * first commit * added arguments in each launch files * finished implementation * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): change rectified pointcloud to outlier_filtered pointcloud (`#1365 `_) -* fix(tier4_localization_launch): add group tag (`#1237 `_) +* feat(tier4_localization_launch): change rectified pointcloud to outlier_filtered pointcloud (`#1365 `_) +* fix(tier4_localization_launch): add group tag (`#1237 `_) * fix(tier4_localization_launch): add group tag * add more args into group -* feat(localization_error_monitor): add a config file (`#1282 `_) +* feat(localization_error_monitor): add a config file (`#1282 `_) * feat(localization_error_monitor): add a config file * ci(pre-commit): autofix * feat(localization_error_monitor): add a config file in tier4_localization_launch too * ci(pre-commit): autofix * debugged Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_localization_launch): remove unnecessary param from pose_twist_fusion_filter.launch (`#1224 `_) -* feat(ekf_localizer): allow multi sensor inputs in ekf_localizer (`#1027 `_) +* fix(tier4_localization_launch): remove unnecessary param from pose_twist_fusion_filter.launch (`#1224 `_) +* feat(ekf_localizer): allow multi sensor inputs in ekf_localizer (`#1027 `_) * first commit * ci(pre-commit): autofix * updated @@ -1409,7 +1415,7 @@ Changelog for package tier4_localization_launch * change the default gnss covariance to the previous one * pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) +* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) * first commit * ci(pre-commit): autofix * check if angular_velocity_queue\_ is empty or not @@ -1419,7 +1425,7 @@ Changelog for package tier4_localization_launch * ci(pre-commit): autofix * reflected reviews Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: regularized NDT matching (`#1006 `_) +* feat: regularized NDT matching (`#1006 `_) * add interface of gnss regularization in ndt class * gnss pose is applied to regularize NDT * add descriptions in ndt_scan_matcher/README @@ -1431,7 +1437,7 @@ Changelog for package tier4_localization_launch * modify README to visualize well * fixed descriptions about principle of regularization Co-authored-by: Kento Yabuuchi -* feat(twist2accel)!: add new package for estimating acceleration in localization module (`#1089 `_) +* feat(twist2accel)!: add new package for estimating acceleration in localization module (`#1089 `_) * first commit * update launch arg names * use lowpassfilter in signalprocessing @@ -1449,26 +1455,26 @@ Changelog for package tier4_localization_launch * added future work * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* feat: added raw twist in gyro_odometer (`#676 `_) +* style: fix format of package.xml (`#844 `_) +* feat: added raw twist in gyro_odometer (`#676 `_) * feat: added raw twist output from gyro_odometer * fix: prettier -* fix: localization and perception launch for tutorial (`#645 `_) +* fix: localization and perception launch for tutorial (`#645 `_) * fix: localization and perception launch for tutorial * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): add nearest voxel transfromation probability (`#364 `_) +* feat(ndt_scan_matcher): add nearest voxel transfromation probability (`#364 `_) * feat(ndt_scan_matcher): add nearest voxel transfromation probability * add calculateTransformationProbability funcs * add calculateTransformationProbability funcs @@ -1485,7 +1491,7 @@ Changelog for package tier4_localization_launch * ci(pre-commit): autofix * avoid a warning unused parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): add tolerance of initial pose (`#408 `_) +* feat(ndt_scan_matcher): add tolerance of initial pose (`#408 `_) * feat(ndt_scan_matcher): add tolerance of initial pose * move codes * modify the default value @@ -1495,15 +1501,15 @@ Changelog for package tier4_localization_launch * add depend fmt * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): add particles param (`#330 `_) +* feat(ndt_scan_matcher): add particles param (`#330 `_) * feat(ndt_scan_matcher): add particles param * fix data type * ci(pre-commit): autofix * fix data type Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: remove unused param (`#291 `_) -* fix: typo in localization util.launch.py (`#277 `_) -* feat: add covariance param (`#281 `_) +* fix: remove unused param (`#291 `_) +* fix: typo in localization util.launch.py (`#277 `_) +* feat: add covariance param (`#281 `_) * add covariance param * add description * add description @@ -1511,7 +1517,7 @@ Changelog for package tier4_localization_launch * refactor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index d56b855baa9ae..72b1a227362ba 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -2,7 +2,7 @@ tier4_localization_launch - 0.42.0 + 0.43.0 The tier4_localization_launch package Yamato Ando Kento Yabuuchi diff --git a/launch/tier4_map_launch/CHANGELOG.rst b/launch/tier4_map_launch/CHANGELOG.rst index dd4cf93d7446a..9b8f55a6b669c 100644 --- a/launch/tier4_map_launch/CHANGELOG.rst +++ b/launch/tier4_map_launch/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package tier4_map_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -18,17 +24,17 @@ Changelog for package tier4_map_launch 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package @@ -40,8 +46,8 @@ Changelog for package tier4_map_launch --------- * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package @@ -51,8 +57,8 @@ Changelog for package tier4_map_launch * add autoware prefix * removed unnecessary dependency --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -62,9 +68,9 @@ Changelog for package tier4_map_launch 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -75,36 +81,36 @@ Changelog for package tier4_map_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_map_launch): remove parameter use_intra_process (`#9138 `_) -* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) +* fix(tier4_map_launch): remove parameter use_intra_process (`#9138 `_) +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* fix(map_tf_genrator): fix map launch prefix (`#8598 `_) +* fix(map_tf_genrator): fix map launch prefix (`#8598 `_) fix(map_tf_geenrator): fix map launch prefix -* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) +* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* chore(localization, map): remove maintainer (`#7940 `_) -* chore(map): udpate maintainer (`#7405 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* chore(map): udpate maintainer (`#7405 `_) udpate maintainer -* fix(tier4_map_launch): change log output (`#7289 `_) +* fix(tier4_map_launch): change log output (`#7289 `_) change log output from screen to both Co-authored-by: SakodaShintaro * Contributors: Kosuke Takeuchi, Masaki Baba, Yamato Ando, Yutaka Kondo, cyn-liu, kminoda 0.26.0 (2024-04-03) ------------------- -* refactor(map_tf_generator): rework parameters (`#6233 `_) +* refactor(map_tf_generator): rework parameters (`#6233 `_) * refactor(map_tf_generator): rework parameters * add config * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(map_projection_loader): rework parameters (`#6253 `_) +* refactor(map_projection_loader): rework parameters (`#6253 `_) * Extract all params in map_projection_loader to map_projection_loader.param.yaml Added launch argument map_projection_loader_param_path to map.launch.xml * Added map_projection_loader.schema.json. @@ -114,17 +120,17 @@ Changelog for package tier4_map_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto -* chore(tier4_map_launch): add maintainer (`#6284 `_) -* refactor(map_launch): use map.launch.xml instead of map.launch.py (`#6185 `_) +* chore(tier4_map_launch): add maintainer (`#6284 `_) +* refactor(map_launch): use map.launch.xml instead of map.launch.py (`#6185 `_) * refactor(map_launch): use map.launch.xml instead of map.launch.py * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add maintainer in map packages (`#5865 `_) +* chore: add maintainer in map packages (`#5865 `_) * add maintainer * modify map_tf_generator's maintainer --------- -* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) +* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) * feat(map): use component_interface_specs in map_projection_loader * update map_loader * style(pre-commit): autofix @@ -134,7 +140,7 @@ Changelog for package tier4_map_launch * fix test --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_projection_loader): add map_projection_loader (`#3986 `_) +* feat(map_projection_loader): add map_projection_loader (`#3986 `_) * feat(map_projection_loader): add map_projection_loader * style(pre-commit): autofix * Update default algorithm @@ -188,13 +194,13 @@ Changelog for package tier4_map_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -202,7 +208,7 @@ Changelog for package tier4_map_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(map_loader): add selected map loader (`#3286 `_) +* feat(map_loader): add selected map loader (`#3286 `_) * add id based map loader * add metadata publisher * feat(map_loader): add support for sequential_map_loading @@ -215,7 +221,7 @@ Changelog for package tier4_map_launch --------- Co-authored-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) +* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) * feat(map_loader): add grid coordinates for partial/differential map load * style(pre-commit): autofix * update readme @@ -225,7 +231,7 @@ Changelog for package tier4_map_launch * update readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) +* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) * chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch Update launch/tier4_map_launch/launch/map.launch.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> @@ -233,20 +239,20 @@ Changelog for package tier4_map_launch remove config path * chore(tier4_map_launch): fix lanelet launch name --------- -* refactor(tier4_map_launch): remove unused config (`#2722 `_) +* refactor(tier4_map_launch): remove unused config (`#2722 `_) * refactor(tier4_map_launch): remove unused config * load lanelet2 parameter from upper level * revert the addition of lanelet2 param -* revert(tier4_map_launch): move config back to autoware.universe (`#2561 `_) - * revert(tier4_map_launch): move config back to autoware.universe +* revert(tier4_map_launch): move config back to autoware_universe (`#2561 `_) + * revert(tier4_map_launch): move config back to autoware_universe * fix map.launch.xml -* feat(tier4_map_launch): remove configs and move to autoware_launch (`#2538 `_) +* feat(tier4_map_launch): remove configs and move to autoware_launch (`#2538 `_) * feat(tier4_map_launch): remove configs and move to autoware_launch * update readme * fix readme * remove config * update readme -* feat(map_loader): add differential map loading interface (`#2417 `_) +* feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -256,7 +262,7 @@ Changelog for package tier4_map_launch * fix readme * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) +* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) * first commit * debugged * update readme @@ -268,7 +274,7 @@ Changelog for package tier4_map_launch * set default param to false * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) +* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) * first commit * reverted unnecessary modification * ci(pre-commit): autofix @@ -318,13 +324,13 @@ Changelog for package tier4_map_launch * remove fmt from target_link_libraries in test * minor fix in cmakelists.txt Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_map_launch): add maintainers (`#2416 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* chore(tier4_map_launch): add maintainers (`#2416 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -357,7 +363,7 @@ Changelog for package tier4_map_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(map_tf_generator)!: launching planning_simulator without pointcloud map (`#1216 `_) +* feat(map_tf_generator)!: launching planning_simulator without pointcloud map (`#1216 `_) * feat(map_tf_generator): add vector map tf generator * fix(ad_service_state_monitor): rm unused cofig param * chore: change launching vector_map_tf_generator @@ -373,22 +379,22 @@ Changelog for package tier4_map_launch * Update map/map_tf_generator/Readme.md Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add parameter argument for lanelet2_map_loader (`#954 `_) +* feat: add parameter argument for lanelet2_map_loader (`#954 `_) * feat: add parameter argument for lanelet2_map_loader * feat: add comment -* refactor: tier4_map_launch (`#953 `_) +* refactor: tier4_map_launch (`#953 `_) * refactor: tier4_map_launch * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) +* style: fix format of package.xml (`#844 `_) +* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) * ci(pre-commit): autofix * ci(pre-commit): autofix * fix(map_loader): add UTM projector to map_loader package @@ -411,11 +417,11 @@ Changelog for package tier4_map_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt Co-authored-by: Berkay -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index 5e48d0dcdb4a5..c0c113cf822be 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -2,7 +2,7 @@ tier4_map_launch - 0.42.0 + 0.43.0 The tier4_map_launch package Ryu Yamamoto Kento Yabuuchi diff --git a/launch/tier4_perception_launch/CHANGELOG.rst b/launch/tier4_perception_launch/CHANGELOG.rst index 0f23554b8c734..fc00c562ada76 100644 --- a/launch/tier4_perception_launch/CHANGELOG.rst +++ b/launch/tier4_perception_launch/CHANGELOG.rst @@ -2,27 +2,64 @@ Changelog for package tier4_perception_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* chore(perception): refactor perception launch (`#10186 `_) + * fundamental change + * style(pre-commit): autofix + * fix typo + * fix params and modify some packages + * pre-commit + * fix + * fix spell check + * fix typo + * integrate model and label path + * style(pre-commit): autofix + * for pre-commit + * run pre-commit + * for awsim + * for simulatior + * style(pre-commit): autofix + * fix grammer in launcher + * add schema for yolox_tlr + * style(pre-commit): autofix + * fix file name + * fix + * rename + * modify arg name to + * fix typo + * change param name + * style(pre-commit): autofix + * chore + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(tier4_perception_launch): re-order objects_validation process after lidar ml detector (`#10160 `_) +* chore(tier4_perception_launch): re-order objects_validation process after lidar ml detector (`#10160 `_) * fix: reorder object validator before the merge process * feat(camera_lidar_radar_merger): remove near radar fusion arguments and related logic * feat: remove validator and related arguments from camera, lidar, and radar merger launch files * feat(camera_lidar_detector): update cluster output references for shape estimation * feat: update camera and lidar merger launch files to use detected object ROI filter --------- -* fix(tier4_perception_launch): add missing exec_depend (`#10130 `_) +* fix(tier4_perception_launch): add missing exec_depend (`#10130 `_) * fix(tier4_perception_launch): add missing exec_depend * add exec_depend for perception --------- Co-authored-by: Taekjin LEE -* chore: refine maintainer list (`#10110 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* fix(tier4_perception_launch): add missing parameter for planning simulation (`#10165 `_) -* feat(tier4_perception_launch): add option for new TL detector model (`#9731 `_) +* fix(tier4_perception_launch): add missing parameter for planning simulation (`#10165 `_) +* feat(tier4_perception_launch): add option for new TL detector model (`#9731 `_) * feat: add traffic_light_detector launch fix: tier4 perception launch fix: add multi tlr detector launch @@ -56,7 +93,7 @@ Changelog for package tier4_perception_launch Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Co-authored-by: MasatoSaeki Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(traffic_light_multi_camera_fusion): read parameters from yaml file (`#10144 `_) +* chore(traffic_light_multi_camera_fusion): read parameters from yaml file (`#10144 `_) * chore(traffic_light_multi_camera_fusion): read parameters from yaml file * style(pre-commit): autofix * add all_traffic_light_camera param to launch.xml @@ -66,9 +103,9 @@ Changelog for package tier4_perception_launch * remove camera_namespaces from required --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): change tlr pedestrian classifier model (`#10116 `_) +* feat(tier4_perception_launch): change tlr pedestrian classifier model (`#10116 `_) change onnx model name -* feat(autoware_traffic_light_map_based_detector): created the schema file,updated the readme file and deleted the default parameter in node files code (`#10107 `_) +* feat(autoware_traffic_light_map_based_detector): created the schema file,updated the readme file and deleted the default parameter in node files code (`#10107 `_) * feat(autoware_traffic_light_map_based_detector): Created the schema file,updated the readme file and deleted the default parameter in node files code * style(pre-commit): autofix * move params from launch to param @@ -76,12 +113,12 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: MasatoSaeki -* fix(ground_segmentation): bring junction parameter from param file to launch argument (`#10102 `_) +* fix(ground_segmentation): bring junction parameter from param file to launch argument (`#10102 `_) * feat(ground_segmentation): add launch configuration for single frame and time series filters * feat(ground_segmentation): enhance filter configurations for obstacle segmentation * fix(ground_segmentation): update argument names for single frame and time series filters --------- -* feat(autoware_traffic_light_classifier): add traffic light classifier schema, README and car and ped launcher (`#10048 `_) +* feat(autoware_traffic_light_classifier): add traffic light classifier schema, README and car and ped launcher (`#10048 `_) * feat(autoware_traffic_light_classifier):Add traffic light classifier schema and README * add individual launcher * style(pre-commit): autofix @@ -96,13 +133,13 @@ Changelog for package tier4_perception_launch Co-authored-by: MasatoSaeki Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(traffic_light.launch.xml): add lacked params (`#10071 `_) +* fix(traffic_light.launch.xml): add lacked params (`#10071 `_) fix params * Contributors: Fumiya Watanabe, Masato Saeki, Shunsuke Miura, Taekjin LEE, Takagi, Isamu, Tomohito ANDO, Vishal Chauhan, badai nguyen 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -111,13 +148,13 @@ Changelog for package tier4_perception_launch 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `dummy_perception_publisher` (`#9987 `_) -* fix(launch): fix missing changes for launch (`#10007 `_) +* feat: apply `autoware\_` prefix for `dummy_perception_publisher` (`#9987 `_) +* fix(launch): fix missing changes for launch (`#10007 `_) bug(launch): fix missing changes for following PRs: - * https://github.com/autowarefoundation/autoware.universe/pull/9956 - * https://github.com/autowarefoundation/autoware.universe/pull/9970 -* fix(tier4_perception_launch): rearrange roi based cluster pipeline (`#9938 `_) -* fix(image_projection_based_fusion): revise message publishers (`#9865 `_) + * https://github.com/autowarefoundation/autoware_universe/pull/9956 + * https://github.com/autowarefoundation/autoware_universe/pull/9970 +* fix(tier4_perception_launch): rearrange roi based cluster pipeline (`#9938 `_) +* fix(image_projection_based_fusion): revise message publishers (`#9865 `_) * refactor: fix condition for publishing painted pointcloud message * fix: publish output revised * feat: fix condition for publishing painted pointcloud message @@ -129,9 +166,9 @@ Changelog for package tier4_perception_launch * feat: remove !! pointer to bool conversion --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (`#9733 `_) +* feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (`#9733 `_) feat: enable anonymized node names to be configurable -* refactor(tier4_perception_launch): refactoring detection launchers (`#9611 `_) +* refactor(tier4_perception_launch): refactoring detection launchers (`#9611 `_) * feat: Update object detection launch files to include input and output arguments The object detection launch files have been updated to include input and output arguments for better flexibility and modularity. This allows for easier integration with other components and improves the overall performance of the system. ``` @@ -141,7 +178,7 @@ Changelog for package tier4_perception_launch * fix: pass ns argument to the lidar_rule_detector * refactor: make euclidean_cluster not to use use_pointcloud_container and mark explicitly --------- -* fix(tier4_perception_launch): update multi-channel subscribing channel name to lidar_detection_model_type (`#9624 `_) +* fix(tier4_perception_launch): update multi-channel subscribing channel name to lidar_detection_model_type (`#9624 `_) * feat: update object detection channels in tracking.launch.xml The object detection channels in the `tracking.launch.xml` file have been updated to include the lidar detection model type. * feat: support even the validator is not used @@ -151,21 +188,21 @@ Changelog for package tier4_perception_launch 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -175,9 +212,9 @@ Changelog for package tier4_perception_launch 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -188,7 +225,7 @@ Changelog for package tier4_perception_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(tier4_perception_launch): enable to receive argument `centerpoint_model_name` from autoware_launch (`#9003 `_) +* chore(tier4_perception_launch): enable to receive argument `centerpoint_model_name` from autoware_launch (`#9003 `_) * enable to receive arguments * adopt transfusion * add lidar_detection_model_type @@ -202,30 +239,30 @@ Changelog for package tier4_perception_launch * fix condition when default model name --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_perception_launch): remove duplicated parameter declaration (`#9031 `_) -* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (`#8676 `_) +* refactor(tier4_perception_launch): remove duplicated parameter declaration (`#9031 `_) +* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (`#8676 `_) * main process * style(pre-commit): autofix * add exception if input is invalid --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_lidar_transfusion): split config (`#8205 `_) +* refactor(autoware_lidar_transfusion): split config (`#8205 `_) * refactor(autoware_lidar_transfusion): split config * style(pre-commit): autofix * chore(autoware_lidar_transfusion): bypass schema CI workflow --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(tier4_perception_launch): launch namespace of `detection_by_tracker` (`#8702 `_) +* fix(tier4_perception_launch): launch namespace of `detection_by_tracker` (`#8702 `_) fix: namespace of detection_by_tracker do not need to have the prefix `autoware\_` -* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) +* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) * add param and schema file, edit readme * . * correct linter errors --------- -* fix(tier4_perception_launch): set `use_image_transport` in launch (`#8315 `_) +* fix(tier4_perception_launch): set `use_image_transport` in launch (`#8315 `_) set use_image_transport in launch -* refactor: image transport decompressor/autoware prefix (`#8197 `_) +* refactor: image transport decompressor/autoware prefix (`#8197 `_) * refactor: add `autoware` namespace prefix to image_transport_decompressor * refactor(image_transport_decompressor): add `autoware` prefix to the package code * refactor: update package name in CODEOWNER @@ -236,13 +273,13 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor: traffic light arbiter/autoware prefix (`#8181 `_) +* refactor: traffic light arbiter/autoware prefix (`#8181 `_) * refactor(traffic_light_arbiter): apply `autoware` namespace to traffic_light_arbiter * refactor(traffic_light_arbiter): update the package name in CODEWONER * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter @@ -252,20 +289,20 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) * refactor: add namespace, remove unused dependencies, file structure chore: remove unused dependencies style(pre-commit): autofix * refactor: rename elevation_map_loader to autoware_elevation_map_loader Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. style(pre-commit): autofix -* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) * refactor: add autoware namespace prefix to `tensorrt_yolox` * refactor: apply `autoware` namespace to tensorrt_yolox * chore: update CODEOWNERS * fix: resolve `yolox_tiny` to work --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor @@ -273,29 +310,29 @@ Changelog for package tier4_perception_launch * chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector * chore: rename traffic_light_visualization to autoware_traffic_light_visualization --------- -* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) +* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) * refactor: add autoware namespace prefix * chore: update CODEOWNERS * refactor: add `autoware` prefix --------- -* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) +* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) refactor: rename image_projection_based_fusion to autoware_image_projection_based_fusion -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix * fix: cmake --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) +* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) * refactor(ground_segmentation): add package name prefix of autoware\_ * fix: update prefix cmake --------- -* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) +* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) * add prefix in lidar_centerpoint * add .gitignore * change include package name in image_projection_based fusion @@ -315,11 +352,11 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) refactor: rename detected_object_validation to autoware_detected_object_validation -* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) refactor(detected_object_feature_remover): add package name prefix of autoware\_ -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -333,15 +370,15 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(traffic_light_visualization): fix namespace and directory structure (`#7968 `_) +* refactor(traffic_light_visualization): fix namespace and directory structure (`#7968 `_) * feat: namespace fix and directory structure * chore: Remove main.cpp and implement node by template --------- -* refactor(traffic_light_fine_detector): fix namespace and directory structure (`#7973 `_) +* refactor(traffic_light_fine_detector): fix namespace and directory structure (`#7973 `_) * refactor: add autoware on the namespace * refactor: rename nodelet to node --------- -* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) +* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) * add prefix * add prefix in code owner * style(pre-commit): autofix @@ -350,31 +387,31 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Amadeusz Szymko Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) * refactor(euclidean_cluster): add package name prefix of autoware\_ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(traffic_light_classifier): fix namespace and directory structure (`#7970 `_) +* refactor(traffic_light_classifier): fix namespace and directory structure (`#7970 `_) * refactor: update namespace for traffic light classifier code * refactor: directory structure --------- -* fix(tier4_perception_launch): delete unnecessary dependency (`#8101 `_) +* fix(tier4_perception_launch): delete unnecessary dependency (`#8101 `_) delete cluster merger -* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) * refactor: rename multi_object_tracker package to autoware_multi_object_tracker * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) -* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) -* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) -* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) +* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) +* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) +* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) +* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) * refactor(raindrop_cluster_filter): add package name prefix of autoware\_ * fix: typo --------- -* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering @@ -384,16 +421,16 @@ Changelog for package tier4_perception_launch * refactor: rename object_range_splitter to autoware_object_range_splitter * refactor: update readme --------- -* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) +* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) * feat: update namespace and directory structure for compare_map_segmentation code * refactor: update directory structure * fix: add missing include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add missing dependency (`#7919 `_) +* chore: add missing dependency (`#7919 `_) add raindrop_cluster_filter dependency -* feat: migrating pointcloud types (`#6996 `_) +* 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 @@ -413,9 +450,9 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> -* refactor(tier4_perception_launch): add maintainer to tier4_perception_launch (`#7893 `_) +* refactor(tier4_perception_launch): add maintainer to tier4_perception_launch (`#7893 `_) refactor: add maintainer to tier4_perception_launch -* feat(tier4_perception_launch): add image segmentation based pointcloud filter (`#7225 `_) +* feat(tier4_perception_launch): add image segmentation based pointcloud filter (`#7225 `_) * feat(tier4_perception_launch): add image segmentation based pointcloud filter * chore: typo * fix: detection launch @@ -423,9 +460,9 @@ Changelog for package tier4_perception_launch * Revert "chore: add maintainer" This reverts commit 5adfef6e9ca8196d3ba88ad574b2ba35489a5e49. --------- -* refactor(occupancy_grid_map_outlier_filter)!: fix namespace and directory structure (`#7748 `_) +* refactor(occupancy_grid_map_outlier_filter)!: fix namespace and directory structure (`#7748 `_) chore: update namespace and file structure -* refactor(ground_segmentation)!: fix namespace and directory structure (`#7744 `_) +* refactor(ground_segmentation)!: fix namespace and directory structure (`#7744 `_) * refactor: update namespace in ground_segmentation files * refactor: update namespace in ground_segmentation files * refactor: update ground_segmentation namespace and file structure @@ -434,13 +471,13 @@ Changelog for package tier4_perception_launch * refactor: update ransac tester --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ground_segmentation): fix bug (`#7771 `_) -* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) +* fix(ground_segmentation): fix bug (`#7771 `_) +* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) * feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger * feat: add use_multi_channel_tracker_merger argument to simulator launch This commit adds the `use_multi_channel_tracker_merger` argument to the simulator launch file. The argument is set to `false` by default. This change enables the use of the multi-channel tracker merger in the simulator. --------- -* feat(tier4_perception_launch): enable multi channel tracker merger (`#7459 `_) +* feat(tier4_perception_launch): enable multi channel tracker merger (`#7459 `_) * feat: introduce multi channel tracker merger feat: separate filters feat: filtering camera lidar fusion @@ -465,7 +502,7 @@ Changelog for package tier4_perception_launch * fix: group to avoid argument mixture --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_perception_launch): perception launcher refactoring second round (`#7440 `_) +* chore(tier4_perception_launch): perception launcher refactoring second round (`#7440 `_) * feat: separate filters * fix: object validator to modular * chore: remove default values from subsequent launch files @@ -488,9 +525,9 @@ Changelog for package tier4_perception_launch * fix: radar object filter parameter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* chore(tier4_perception_launch): perception launcher refactoring (`#7194 `_) +* chore(tier4_perception_launch): perception launcher refactoring (`#7194 `_) * fix: reorder object merger launchers * fix: separate detection by tracker launch * fix: refactor tracking launch @@ -505,12 +542,12 @@ Changelog for package tier4_perception_launch * fix: rename radar detector to filter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): enable low_intensity_filter as default (`#7390 `_) -* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) +* fix(tier4_perception_launch): enable low_intensity_filter as default (`#7390 `_) +* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) * add prefix -* chore(tier4_perception_launch): rename autoware_map_based_prediction_depend (`#7395 `_) -* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) -* feat(lidar_transfusion): add lidar_transfusion 3D detection package (`#6890 `_) +* chore(tier4_perception_launch): rename autoware_map_based_prediction_depend (`#7395 `_) +* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) +* feat(lidar_transfusion): add lidar_transfusion 3D detection package (`#6890 `_) * feat(lidar_transfusion): add lidar_transfusion 3D detection package * style(pre-commit): autofix * style(lidar_transfusion): cpplint @@ -554,7 +591,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) * feat!: replace autoware_auto_msgs with autoware_msgs for launch files Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong @@ -565,7 +602,7 @@ Changelog for package tier4_perception_launch Co-authored-by: NorahXiong Co-authored-by: beginningfan Co-authored-by: Yukihiro Saito -* feat(multi_object_tracker): multi object input (`#6820 `_) +* feat(multi_object_tracker): multi object input (`#6820 `_) * refactor: frequently used types, namespace * test: multiple inputs * feat: check latest measurement time @@ -638,7 +675,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* feat(tier4_perception_launch): fix typo error (`#6999 `_) +* feat(tier4_perception_launch): fix typo error (`#6999 `_) * feat: downsample perception input pointcloud * fix: add group if to switch downsample node * fix: add test and exec depend @@ -648,7 +685,7 @@ Changelog for package tier4_perception_launch * fix: fix name --------- Co-authored-by: Yukihiro Saito -* feat(tier4_perception_launch): downsample perception input pointcloud (`#6886 `_) +* feat(tier4_perception_launch): downsample perception input pointcloud (`#6886 `_) * feat: downsample perception input pointcloud * fix: add group if to switch downsample node * fix: add test and exec depend @@ -657,15 +694,15 @@ Changelog for package tier4_perception_launch * chore: refactor perception.launch.xml --------- Co-authored-by: Yukihiro Saito -* feat: add low_intensity_cluster_filter (`#6850 `_) +* feat: add low_intensity_cluster_filter (`#6850 `_) * feat: add low_intensity_cluster_filter * chore: typo * fix: build test error --------- -* fix(voxel_grid_downsample_filter): add intensity field (`#6849 `_) +* fix(voxel_grid_downsample_filter): add intensity field (`#6849 `_) fix(downsample_filter): add intensity field -* fix(lidar_centerpoint): add param file for centerpoint_tiny (`#6901 `_) -* refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages (`#6591 `_) +* fix(lidar_centerpoint): add param file for centerpoint_tiny (`#6901 `_) +* refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages (`#6591 `_) * refactor: lidar_centerpoint * refactor: pointpainting * chore: fix launch @@ -689,11 +726,11 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): change traffic light recognition pipeline (`#6879 `_) +* fix(tier4_perception_launch): change traffic light recognition pipeline (`#6879 `_) style(pre-commit): autofix refactor: topic name -* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) -* feat(lidar_centerpoint): output the covariance of pose and twist (`#6573 `_) +* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) +* feat(lidar_centerpoint): output the covariance of pose and twist (`#6573 `_) * feat: postprocess variance * feat: output variance * feat: add has_variance to config @@ -714,13 +751,13 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri Co-authored-by: Taekjin LEE -* fix(ground_segmentation launch): fix topic name conflict in additional_lidars option (`#6801 `_) +* fix(ground_segmentation launch): fix topic name conflict in additional_lidars option (`#6801 `_) fix(ground_segmentation launch): fix topic name conflict when using additional lidars * Contributors: Amadeusz Szymko, Esteve Fernandez, Kenzo Lobos Tsunekawa, Kosuke Takeuchi, Kotaro Uetake, Mamoru Sobue, Manato Hirabayashi, Masato Saeki, Mehmet Emin BAŞOĞLU, Ryohsuke Mitsudome, Shunsuke Miura, Taekjin LEE, Tao Zhong, Yoshi Ri, Yuki TAKAGI, Yutaka Kondo, awf-autoware-bot[bot], badai nguyen, oguzkaganozt 0.26.0 (2024-04-03) ------------------- -* feat(probabilistic_occupancy_grid_map): add synchronized ogm fusion node (`#5485 `_) +* feat(probabilistic_occupancy_grid_map): add synchronized ogm fusion node (`#5485 `_) * add synchronized ogm fusion node * add launch test for grid map fusion node * fix test cases input msg error @@ -735,15 +772,15 @@ Changelog for package tier4_perception_launch * chore: fix ogm pointcloud subscription * feat: enable to publish pipeline latency --------- -* chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height (`#6549 `_) +* chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height (`#6549 `_) * chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height * fix: typo --------- -* chore(ground_segmentation): rename topic and node (`#6536 `_) +* chore(ground_segmentation): rename topic and node (`#6536 `_) * chore(ground_segmentation): rename topic and node * docs: update synchronized_grid_map_fusion --------- -* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) * feat(perception_evaluator): add perception_evaluator tmp update @@ -761,14 +798,14 @@ Changelog for package tier4_perception_launch * feat: add test * fix: ci check --------- -* chore(image_projection_based_fusion): rename debug topics (`#6418 `_) +* chore(image_projection_based_fusion): rename debug topics (`#6418 `_) * chore(image_projection_based_fusion): rename debug topics * style(pre-commit): autofix * fix: roi_pointcloud_fusion namespace --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: remove `tensorrt_yolo` from package dependencies in launcher (`#6377 `_) -* chore(traffic_light_map_based_detector): rework parameters (`#6200 `_) +* fix: remove `tensorrt_yolo` from package dependencies in launcher (`#6377 `_) +* chore(traffic_light_map_based_detector): rework parameters (`#6200 `_) * chore: use config * chore: use config * fix: revert min_timestamp_offset @@ -783,31 +820,31 @@ Changelog for package tier4_perception_launch Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda -* feat(tensorrt_yolo): remove package (`#6361 `_) +* feat(tensorrt_yolo): remove package (`#6361 `_) * feat(tensorrt_yolo): remove package * remove tensorrt_yolo inclusion * feat: add multiple yolox launcher --------- Co-authored-by: Shunsuke Miura -* chore(traffic_light_fine_detector_and_classifier): rework parameters (`#6216 `_) +* chore(traffic_light_fine_detector_and_classifier): rework parameters (`#6216 `_) * chore: use config * style(pre-commit): autofix * chore: move build only back --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(object_merger): rework parameters (`#6160 `_) +* chore(object_merger): rework parameters (`#6160 `_) * chore(object_merger): parametrize some parameters * style(pre-commit): autofix * revert priority_mode --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(radar_object_tracker): move tracker config directory to parameter yaml (`#6250 `_) +* chore(radar_object_tracker): move tracker config directory to parameter yaml (`#6250 `_) * chore: move tracker config directory to parameter yaml * fix: add allow_substs to fix error * fix: use radar tracking parameter from autoware_launch --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat: remove use_pointcloud_container (`#6115 `_) +* feat: remove use_pointcloud_container (`#6115 `_) * feat!: remove use_pointcloud_container * fix pre-commit * fix: completely remove use_pointcloud_container after merge main @@ -815,7 +852,7 @@ Changelog for package tier4_perception_launch * revert: revert change in probabilistic_occupancy_grid_map * revert change in launcher of ogm --------- -* chore(lidar_centerpoint): rework parameters (`#6167 `_) +* chore(lidar_centerpoint): rework parameters (`#6167 `_) * chore(lidar_centerpoint): use config * revert unnecessary fix * fix: revert build_only option @@ -825,7 +862,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat(detection): add container option (`#6228 `_) +* feat(detection): add container option (`#6228 `_) * feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option * revert lidar_perception_model * style(pre-commit): autofix @@ -844,26 +881,26 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* chore(tier4_perception_launch): fix arg name radar lanelet filter (`#6215 `_) -* chore(radar_crossing_objects_noise_filter): add config file (`#6210 `_) +* chore(tier4_perception_launch): fix arg name radar lanelet filter (`#6215 `_) +* chore(radar_crossing_objects_noise_filter): add config file (`#6210 `_) * chore(radar_crossing_objects_noise_filter): add config file * bug fix * merge main branch --------- -* chore(radar_object_clustering): fix config arg name (`#6214 `_) -* chore(object_velocity_splitter): rework parameters (`#6158 `_) +* chore(radar_object_clustering): fix config arg name (`#6214 `_) +* chore(object_velocity_splitter): rework parameters (`#6158 `_) * chore(object_velocity_splitter): add param file * fix * fix arg name * fix: update launch param handling --------- -* fix(tier4_perception_launch): fix a bug in `#6159 `_ (`#6203 `_) -* chore(object_range_splitter): rework parameters (`#6159 `_) +* fix(tier4_perception_launch): fix a bug in `#6159 `_ (`#6203 `_) +* chore(object_range_splitter): rework parameters (`#6159 `_) * chore(object_range_splitter): add param file * fix arg name * feat: use param file from autoware.launch --------- -* refactor(tier4_perception_launch): refactor object_recognition/detection launcher (`#6152 `_) +* refactor(tier4_perception_launch): refactor object_recognition/detection launcher (`#6152 `_) * refactor: align mode parameters * refactor: cluster detector and merger * refactor: separate object merger launches @@ -871,8 +908,8 @@ Changelog for package tier4_perception_launch * refactor: lidar detector modules * chore: fix mis spell, align typo, clean-up --------- -* chore(pointcloud_container): move glog_component to autoware_launch (`#6114 `_) -* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) +* chore(pointcloud_container): move glog_component to autoware_launch (`#6114 `_) +* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) * feat!: replace use_pointcloud_container * feat: remove from planning * fix: fix to remove all use_pointcloud_container @@ -890,14 +927,14 @@ Changelog for package tier4_perception_launch * fix: fix pre-commit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(pointpainting): fix param path declaration (`#6106 `_) +* fix(pointpainting): fix param path declaration (`#6106 `_) * fix(pointpainting): fix param path declaration * remove pointpainting_model_name * revert: revert unnecessary change --------- -* fix(image_projection_based_fusion): re-organize the parameters for image projection fusion (`#6075 `_) +* fix(image_projection_based_fusion): re-organize the parameters for image projection fusion (`#6075 `_) re-organize the parameters for image projection fusion -* feat(probabilistic_occupancy_grid_map): add grid map fusion node (`#5993 `_) +* feat(probabilistic_occupancy_grid_map): add grid map fusion node (`#5993 `_) * add synchronized ogm fusion node * add launch test for grid map fusion node * fix test cases input msg error @@ -908,7 +945,7 @@ Changelog for package tier4_perception_launch * fix: change ogm fusion node pub policy to reliable * chore: remove files outof scope with divied PR --------- -* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) +* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) * add: crosswalk traffic light recognition * fix: set conf=0 when occluded * fix: clean code @@ -972,40 +1009,40 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu -* feat: add support of overwriting signals if harsh backlight is detected (`#5852 `_) +* feat: add support of overwriting signals if harsh backlight is detected (`#5852 `_) * feat: add support of overwriting signals if backlit is detected * feat: remove default parameter in nodelet and update lauch for composable node * docs: update README * docs: update README * feat: update confidence to 0.0 corresponding signals overwritten by unkonwn --------- -* chore: add glog_component for pointcloud_container (`#5716 `_) -* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) +* chore: add glog_component for pointcloud_container (`#5716 `_) +* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) rename lidar topic Co-authored-by: yamato-ando -* fix: add missing param on perception launch: (`#5812 `_) +* fix: add missing param on perception launch: (`#5812 `_) detection_by_tracker_param_path was missing -* refactor(multi_object_tracker): put node parameters to yaml file (`#5769 `_) +* refactor(multi_object_tracker): put node parameters to yaml file (`#5769 `_) * rework multi object tracker parameters * update README * rework radar tracker parameter too --------- -* refactor(tier4_perception_launch): refactor perception launcher (`#5630 `_) -* chore(tier4_perception_launcher): remove launch parameter default of detection_by_tracker (`#5664 `_) +* refactor(tier4_perception_launch): refactor perception launcher (`#5630 `_) +* chore(tier4_perception_launcher): remove launch parameter default of detection_by_tracker (`#5664 `_) * chore(tier4_perception_launcher): remove launch parameter default * chore: typo --------- -* feat(radar_object_tracker): Change to use `use_radar_tracking_fusion` as true (`#5605 `_) -* refactor(radar_object_clustering): move radar object clustering parameter to param file (`#5451 `_) +* feat(radar_object_tracker): Change to use `use_radar_tracking_fusion` as true (`#5605 `_) +* refactor(radar_object_clustering): move radar object clustering parameter to param file (`#5451 `_) * move radar object clustering parameter to param file * remove default parameter settings and fix cmakelists --------- -* build(tier4_perception_launch): add tracking_object_merger (`#5602 `_) -* fix(detection_by_tracker): add ignore option for each label (`#5473 `_) +* build(tier4_perception_launch): add tracking_object_merger (`#5602 `_) +* fix(detection_by_tracker): add ignore option for each label (`#5473 `_) * fix(detection_by_tracker): add ignore for each class * fix: launch --------- -* feat(tier4_perception_launch): add parameter to control detection_by_tracker on/off (`#5313 `_) +* feat(tier4_perception_launch): add parameter to control detection_by_tracker on/off (`#5313 `_) * add parameter to control detection_by_tracker on/off * style(pre-commit): autofix * Update launch/tier4_perception_launch/launch/perception.launch.xml @@ -1013,11 +1050,11 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* fix(tracking_object_merger): fix unintended error in radar tracking merger (`#5328 `_) +* fix(tracking_object_merger): fix unintended error in radar tracking merger (`#5328 `_) * fix: fix tracking merger node * fix: unintended condition setting --------- -* feat(tier4_perception_launch): add radar far object integration in tracking stage (`#5269 `_) +* feat(tier4_perception_launch): add radar far object integration in tracking stage (`#5269 `_) * update tracking/perception launch * switch tracker launcher mode with argument * update prediction to switch by radar_long_range_integration paramter @@ -1030,7 +1067,7 @@ Changelog for package tier4_perception_launch * refactor: rename and remove paramters in prediction.launch * refactor: rename merger control variable from string to bool --------- -* fix(image_projection_based_fusion): add iou_x use in long range for roi_cluster_fusion (`#5148 `_) +* fix(image_projection_based_fusion): add iou_x use in long range for roi_cluster_fusion (`#5148 `_) * fix: add iou_x for long range obj * fix: add launch file param * chore: fix unexpect calc iou in long range @@ -1039,29 +1076,29 @@ Changelog for package tier4_perception_launch * docs: update readme * chore: refactor --------- -* fix(tier4_perception_launch): fix faraway detection to reduce calculation cost (`#5233 `_) +* fix(tier4_perception_launch): fix faraway detection to reduce calculation cost (`#5233 `_) * fix(tier4_perception_launch): fix node order in radar_based_detection.launch * fix comment out unused node --------- -* fix(detected_object_validation): change the points_num of the validator to be set class by class (`#5177 `_) +* fix(detected_object_validation): change the points_num of the validator to be set class by class (`#5177 `_) * fix: add param for each object class * fix: add missing classes param * fix: launch file * fix: typo * chore: refactor --------- -* feat(perception_launch): add data_path arg to perception launch (`#5069 `_) +* feat(perception_launch): add data_path arg to perception launch (`#5069 `_) * feat(perception_launch): add var data_path to perception.launch * feat(perception_launch): update default center_point_model_path --------- -* fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order (`#5166 `_) +* fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order (`#5166 `_) * fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order * style(pre-commit): autofix * add far_object_merger_sync_queue_size param for package arg --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(pointcloud_preprocessor): organize input twist topic (`#5125 `_) - * fix(pointcloud_preprocessor): organize input twist topic (`#25 `_) +* fix(pointcloud_preprocessor): organize input twist topic (`#5125 `_) + * fix(pointcloud_preprocessor): organize input twist topic (`#25 `_) * fix(pointcloud_preprocessor): organize input twist topic * style(pre-commit): autofix * fix build bug @@ -1076,11 +1113,11 @@ Changelog for package tier4_perception_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion (`#5026 `_) +* fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion (`#5026 `_) * fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion * fix conflict --------- -* refactor(perception): rearrange clustering pipeline (`#4999 `_) +* refactor(perception): rearrange clustering pipeline (`#4999 `_) * fix: change downsample filter * fix: remove downsamle after compare map * fix: add low range cropbox @@ -1090,9 +1127,9 @@ Changelog for package tier4_perception_launch * chore: change node name * fix: launch argument pasrer --------- -* fix(tier4_perception_launch): camera lidar fusion launch (`#4983 `_) +* fix(tier4_perception_launch): camera lidar fusion launch (`#4983 `_) fix: camera lidar fusion launch -* feat(image_projection_based_fusion): add roi based clustering for small unknown object detection (`#4681 `_) +* feat(image_projection_based_fusion): add roi based clustering for small unknown object detection (`#4681 `_) * feat: add roi_pointcloud_fusion node fix: postprocess fix: launch file @@ -1124,7 +1161,7 @@ Changelog for package tier4_perception_launch * fix: update camera_lidar_radar mode launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(crosswalk_traffic_light_estimator): rework parameters (`#4699 `_) +* refactor(crosswalk_traffic_light_estimator): rework parameters (`#4699 `_) * refactor the configuration files of the node crosswalk_traffic_light_estimator according to the new ROS node config guideline. update the parameter information in the README.md * style(pre-commit): autofix @@ -1137,7 +1174,7 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shunsuke Miura -* fix(crosswalk_traffic_light_estimator): move crosswalk after fusion (`#4734 `_) +* fix(crosswalk_traffic_light_estimator): move crosswalk after fusion (`#4734 `_) * fix: move crosswalk after fusion * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> @@ -1146,8 +1183,8 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shunsuke Miura -* chore: add TLR model args to launch files (`#4805 `_) -* fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline (`#4779 `_) +* chore: add TLR model args to launch files (`#4805 `_) +* fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline (`#4779 `_) * fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline * fix clustering update * fix from Camera-LidAR fusion @@ -1160,15 +1197,15 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(launch): add missing launch args and defaults to lidar_based_detection.launch.xml (`#4596 `_) +* fix(launch): add missing launch args and defaults to lidar_based_detection.launch.xml (`#4596 `_) * Update lidar_based_detection.launch.xml Some launch arguments were missing. These arguments and their defaults were added. * changed default of objects_filter_method changed default of the "objects_filter_method" to "lanelet_filter" as requested. --------- -* feat(tier4_perception_launch): lower the detection by tracker priority to suppress yaw oscillation (`#4690 `_) +* feat(tier4_perception_launch): lower the detection by tracker priority to suppress yaw oscillation (`#4690 `_) lower the detection by tracker priority to suppress yaw oscillation -* feat(image_projection_based_fusion): add objects filter by rois (`#4546 `_) +* feat(image_projection_based_fusion): add objects filter by rois (`#4546 `_) * tmp style(pre-commit): autofix update @@ -1193,32 +1230,32 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* refactor(detected_object_validation): add an option for filtering and validation (`#4402 `_) +* refactor(detected_object_validation): add an option for filtering and validation (`#4402 `_) * init commit * update occupancy_grid_map path * update argument names * correct radar launch objects_filter_method name * remove radar option --------- -* refactor(traffic_light_arbiter): read parameters from config file (`#4454 `_) -* fix(compare_map_segmentation): change to using kinematic_state topic (`#4448 `_) -* chore(tier4_perception_launch): fix typo (`#4406 `_) +* refactor(traffic_light_arbiter): read parameters from config file (`#4454 `_) +* fix(compare_map_segmentation): change to using kinematic_state topic (`#4448 `_) +* chore(tier4_perception_launch): fix typo (`#4406 `_) * fix(tier4_perception_launch): fix typo * fix typo --------- -* fix(traffic_light): fix traffic_light_arbiter pipeline (`#4393 `_) +* fix(traffic_light): fix traffic_light_arbiter pipeline (`#4393 `_) * fix(traffic_light): fix traffic_light_arbiter pipeline * style(pre-commit): autofix * fix: output topic name --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(euclidean_cluster): add disuse downsample in clustering pipeline (`#4385 `_) +* fix(euclidean_cluster): add disuse downsample in clustering pipeline (`#4385 `_) * fix: add unuse downsample launch option * fix: add default param for downsample option * fix typo --------- Co-authored-by: Shunsuke Miura -* fix(compare_map_segmentation): add option to reduce distance_threshold in z axis (`#4243 `_) +* fix(compare_map_segmentation): add option to reduce distance_threshold in z axis (`#4243 `_) * fix(compare_map_segmentation): keep low level pointcloud * fix: add option to compare lower neighbor points * docs: readme update @@ -1229,21 +1266,21 @@ Changelog for package tier4_perception_launch * fix: reduce voxel leaf size in z axis * fix: change param type --------- -* refactor(image_projection_based_fusion): update rois topic names definitions (`#4356 `_) -* refactor(image_projection_based_fusion): read lidar models parameters from autoware_launch (`#4278 `_) +* refactor(image_projection_based_fusion): update rois topic names definitions (`#4356 `_) +* refactor(image_projection_based_fusion): read lidar models parameters from autoware_launch (`#4278 `_) * init commit * add centerpoints param * add detection_class_remapper.param.yaml * remove unused centerpoint param path --------- Co-authored-by: Yusuke Muramatsu -* feat(tier4_perception_launch): add radar tracking node to launcher (`#4361 `_) +* feat(tier4_perception_launch): add radar tracking node to launcher (`#4361 `_) * update tracking/perception launch * switch tracker launcher mode with argument * add radar tracker dependency --------- Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* feat(tier4_perception_launch): add radar faraway detection (`#4330 `_) +* feat(tier4_perception_launch): add radar faraway detection (`#4330 `_) * feat(tier4_perception_launch): add radar faraway detection * apply pre-commit * fix unused param @@ -1251,11 +1288,11 @@ Changelog for package tier4_perception_launch * add exec depends --------- Co-authored-by: Shunsuke Miura -* refactor(object_merger): read parameters from autoware_launch (`#4339 `_) +* refactor(object_merger): read parameters from autoware_launch (`#4339 `_) init commit -* refactor(map_based_prediction): read parameters from autoware_launch (`#4337 `_) +* refactor(map_based_prediction): read parameters from autoware_launch (`#4337 `_) init commit -* refactor(euclidean clustering): read parameters from autoware_launch (`#4262 `_) +* refactor(euclidean clustering): read parameters from autoware_launch (`#4262 `_) * update clustering param path * update param paths * style(pre-commit): autofix @@ -1263,7 +1300,7 @@ Changelog for package tier4_perception_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: separate traffic_light_utils from perception_utils (`#4207 `_) +* chore: separate traffic_light_utils from perception_utils (`#4207 `_) * separate traffic_light_utils from perception_utils * style(pre-commit): autofix * fix namespace bug @@ -1278,7 +1315,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* feat(tier4_perception_launch): update traffic light launch (`#4176 `_) +* feat(tier4_perception_launch): update traffic light launch (`#4176 `_) * first commit * add image number arg * style(pre-commit): autofix @@ -1292,23 +1329,23 @@ Changelog for package tier4_perception_launch Co-authored-by: Shunsuke Miura Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* feat(traffic_light): improved traffic_light_map_based_detector and new traffic_light_fine_detector package (`#4084 `_) +* feat(traffic_light): improved traffic_light_map_based_detector and new traffic_light_fine_detector package (`#4084 `_) * update traffic_light_map_based_detector traffic_light_classifier traffic_light_fine_detector traffic_light_multi_camera_fusion * replace autoware_auto_perception_msgs with tier4_perception_msgs --------- -* refactor(occpuancy grid map): move param to yaml (`#4038 `_) -* fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_detection (`#3950 `_) +* refactor(occpuancy grid map): move param to yaml (`#4038 `_) +* fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_detection (`#3950 `_) * fix: launch arguments * chore: revert arg --------- -* fix(tier4_perception_launch): sync param path (`#3713 `_) +* fix(tier4_perception_launch): sync param path (`#3713 `_) * fix(tier4_perception_launch):modify sync_param_path reading method * fix(tier4_perception_launch): fix image_number used for testing * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): fix image_number description (`#3686 `_) -* feat(traffic_light_ssd_fine_detector): add support of ssd trained by mmdetection (`#3485 `_) +* fix(tier4_perception_launch): fix image_number description (`#3686 `_) +* feat(traffic_light_ssd_fine_detector): add support of ssd trained by mmdetection (`#3485 `_) * feat: update to allow out-of-order for scores and boxes * feat: add GatherTopk plugin * feat: add GridPriors plugin @@ -1324,11 +1361,11 @@ Changelog for package tier4_perception_launch Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> --------- Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* fix(tier4_perception_launch): fix duplicated topic name (`#3645 `_) +* fix(tier4_perception_launch): fix duplicated topic name (`#3645 `_) * fix(tier4_perception_launch): fix dublicated topic name * chore: rename topic --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -1336,7 +1373,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(compare_map_segmentation): update voxel_based for dynamic map loader with map grid coordinate (`#3277 `_) +* fix(compare_map_segmentation): update voxel_based for dynamic map loader with map grid coordinate (`#3277 `_) * fix: change map grid searching * refactoring * fix: reload map after initilization @@ -1354,14 +1391,14 @@ Changelog for package tier4_perception_launch * chore: typo * docs: correct parameter description --------- -* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) +* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) * add occcupancy_grid_map method/param var to launcher * added CODEOWNER * Revert "added CODEOWNER" This reverts commit 2213c2956af19580d0a7788680aab321675aab3b. * add maintainer --------- -* feat(elevation_map_loader): add support for seleceted_map_loader (`#3344 `_) +* feat(elevation_map_loader): add support for seleceted_map_loader (`#3344 `_) * feat(elevation_map_loader): add support for sequential_map_loading * fix(elevation_map_loader): fix bug * feat(elevation_map_loader): make it possible to adjust the number of PCD maps loaded at once when using sequential map loading @@ -1370,7 +1407,7 @@ Changelog for package tier4_perception_launch * refactor(elevation_map_loader): Add a range of param. And refactor receiveMap. * feat(elevation_map_loader): Change info level log into debug level log with throttle. And remove abbreviation --------- -* feat(tier4_perception_launch): refactored occupancy_grid_map launcher (`#3058 `_) +* feat(tier4_perception_launch): refactored occupancy_grid_map launcher (`#3058 `_) * rebase on to master add scan_frame and raytrace center * rebase to main @@ -1385,9 +1422,9 @@ Changelog for package tier4_perception_launch * document: update README * enable to change origins by lanch args --------- -* chore(tier4_perception_launch): add custom parameters for roi_cluster_fusion (`#3281 `_) -* fix(tier4_perception_launch): add missing parameter for voxel based compare map filter (`#3251 `_) -* feat(compare_map_segmentation): add dynamic map loading for voxel_based_compare_map_filter (`#3087 `_) +* chore(tier4_perception_launch): add custom parameters for roi_cluster_fusion (`#3281 `_) +* fix(tier4_perception_launch): add missing parameter for voxel based compare map filter (`#3251 `_) +* feat(compare_map_segmentation): add dynamic map loading for voxel_based_compare_map_filter (`#3087 `_) * feat: add interface to dynamic loader * refactor: refactoring * refactor: refactoring @@ -1400,7 +1437,7 @@ Changelog for package tier4_perception_launch * fix: add neighbor map_cell checking * fix: neighbor map grid check --------- -* feat(elevation_map_loader): use polygon iterator to speed up (`#2885 `_) +* feat(elevation_map_loader): use polygon iterator to speed up (`#2885 `_) * use grid_map::PolygonIterator instead of grid_map::GridMapIterator * formatting * use use_lane_filter option @@ -1412,16 +1449,16 @@ Changelog for package tier4_perception_launch * Change use_lane_filter param default to false * update README --------- -* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) +* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) * fixed psim occupancy grid map problem * fix parameter designation --------- Co-authored-by: Takayuki Murooka -* fix(tier4_perception_launch): fix config path (`#3078 `_) +* fix(tier4_perception_launch): fix config path (`#3078 `_) * fix(tier4_perception_launch): fix config path * use pointcloud_based_occupancy_grid_map.launch.py in tier4_simulator_launch --------- -* feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation (`#3032 `_) +* feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation (`#3032 `_) * add scan_frame and raytrace center * add scan frame to laserscan based method * update readme @@ -1430,31 +1467,31 @@ Changelog for package tier4_perception_launch * fix config and launch file * fixed laserscan based launcher --------- -* fix(tier4_perception_launch): remove unnecessary node (`#2941 `_) -* fix(tier4_perception_launch): fix typo (`#2926 `_) -* feat(tier4_perception_launch): update cam/lidar detection architecture (`#2845 `_) +* fix(tier4_perception_launch): remove unnecessary node (`#2941 `_) +* fix(tier4_perception_launch): fix typo (`#2926 `_) +* feat(tier4_perception_launch): update cam/lidar detection architecture (`#2845 `_) * feat(tier4_perception_launch): update cam/lidar detection architecture * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): autoupdate (`#2819 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ground_segmentation): fix unuse_time_series_filter bug (`#2824 `_) -* feat(tier4_perception_launch): add option for euclidean lidar detection model (`#842 `_) +* fix(ground_segmentation): fix unuse_time_series_filter bug (`#2824 `_) +* feat(tier4_perception_launch): add option for euclidean lidar detection model (`#842 `_) feat(tier4_perception_launch): add euclidean lidar detection model -* fix(tier4_perception_launch): sync with tier4/autoware_launch (`#2568 `_) +* fix(tier4_perception_launch): sync with tier4/autoware_launch (`#2568 `_) * fix(tier4_perception_launch): sync with tier4/autoware_launch * move centerpoint configs to perception.launch.xml -* feat(tier4_perception_launch): change the merge priority of roi_cluster_fusion to the lowest (`#2522 `_) -* feat(tier4_perception_launch): remove configs and move to autoware_launch (`#2539 `_) +* feat(tier4_perception_launch): change the merge priority of roi_cluster_fusion to the lowest (`#2522 `_) +* feat(tier4_perception_launch): remove configs and move to autoware_launch (`#2539 `_) * feat(tier4_perception_launch): remove configs and move to autoware_launch * update readme * remove config * update readme -* fix(ground segmentation): change crop box range and add processing time (`#2260 `_) +* fix(ground segmentation): change crop box range and add processing time (`#2260 `_) * fix(ground segmentation): change crop box range * chore(ground_segmentation): add processing time -* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) +* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) * sync launch file from tier4 autoware launch * sync tlr launcher * ci(pre-commit): autofix @@ -1464,26 +1501,26 @@ Changelog for package tier4_perception_launch * fix exec_depend in package.xml * Sync traffic light node Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(multiframe-pointpainting): add multi-sweep pointpainting (`#2124 `_) +* feat(multiframe-pointpainting): add multi-sweep pointpainting (`#2124 `_) * feat: multiframe-pointpainting * ci(pre-commit): autofix * fix: retrieve changes of classremap - * fix(image_projection_based_fusion): fix input to quaternion (`#1933 `_) + * fix(image_projection_based_fusion): fix input to quaternion (`#1933 `_) * add: launch files Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): fix missing container argument (`#2087 `_) +* fix(tier4_perception_launch): fix missing container argument (`#2087 `_) * fix(tier4_perception_launch): fix missing container argument * fix(tier4_perception_launch): rm unused param -* chore: fix typos (`#2140 `_) +* chore: fix typos (`#2140 `_) * chore: fix typos * chore: remove names in NOTE -* feat: use tracker shape size in detection by tracker (`#1683 `_) +* feat: use tracker shape size in detection by tracker (`#1683 `_) * support ref size in detection by tracker * add priority mode in object_merger * update launch @@ -1498,8 +1535,8 @@ Changelog for package tier4_perception_launch * :put_litter_in_its_place: Co-authored-by: Yusuke Muramatsu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(multi_object_tracking): enable delay compensation (`#1349 `_) -* fix(ground segmentation): add elevation grid ground filter (`#1899 `_) +* feat(multi_object_tracking): enable delay compensation (`#1349 `_) +* fix(ground segmentation): add elevation grid ground filter (`#1899 `_) * fix: add grid elevation scan ground filter * chore: typo * fix: merge with scan ground filter @@ -1525,20 +1562,20 @@ Changelog for package tier4_perception_launch * chore: typo * docs: update Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): add enable_fine_detection_option (`#1991 `_) +* feat(tier4_perception_launch): add enable_fine_detection_option (`#1991 `_) * feat(tier4_perception_launch): add enable_fine_detection_option * chore: rename * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): add arg to swtich lidar_centerpoint model (`#1865 `_) -* feat(multi_object_tracker): update bus size (`#1887 `_) -* refactor(lidar_centerpoint): change default threshold params (`#1874 `_) -* feat(multi_object_tracker): increase max-area for truck and trailer (`#1710 `_) +* feat(tier4_perception_launch): add arg to swtich lidar_centerpoint model (`#1865 `_) +* feat(multi_object_tracker): update bus size (`#1887 `_) +* refactor(lidar_centerpoint): change default threshold params (`#1874 `_) +* feat(multi_object_tracker): increase max-area for truck and trailer (`#1710 `_) * feat(multi_object_tracker): increase max-area for truck * feat: change truck and trailer max-area gate params * feat: change trailer params -* fix(tier4_perception_launch): add input/pointcloud to ground-segmentation (`#1833 `_) -* feat(radar_object_fusion_to_detected_object): enable confidence compensation in radar fusion (`#1755 `_) +* fix(tier4_perception_launch): add input/pointcloud to ground-segmentation (`#1833 `_) +* feat(radar_object_fusion_to_detected_object): enable confidence compensation in radar fusion (`#1755 `_) * update parameter * feature(radar_fusion_to_detected_object): add debug topic * feat(tier4_perception_launch): enable confidence compensation in radar fusion @@ -1549,13 +1586,13 @@ Changelog for package tier4_perception_launch * fix parameter * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): make lanelet object filter optional (`#1698 `_) +* feat(tier4_perception_launch): make lanelet object filter optional (`#1698 `_) * feat(tier4_perception_launch): make lanelet object filter optional * feat(tier4_perception_launch): fix arg * feat(tier4_perception_launch): fix argument var * feat(tier4_perception_launch): add new parameter Co-authored-by: Kaan Colak -* fix(ground_filter): remove base_frame and fix ray_ground_filter (`#1614 `_) +* fix(ground_filter): remove base_frame and fix ray_ground_filter (`#1614 `_) * fix(ray_ground_filter): cannot remove ground pcl * fix: remove base_frame * docs: update docs @@ -1563,30 +1600,30 @@ Changelog for package tier4_perception_launch * chores: remove unnecessary calculation * docs: update parameters * docs: update parameters -* fix(tier4_perception_launch): remove duplicated namespace of clustering in camera-lidar-fusion mode (`#1655 `_) -* feat(tier4_perception_launch): change unknown max area (`#1484 `_) -* fix(tier4_perception_launch): fix error of tier4_perception_launch_param_path (`#1445 `_) -* feat(tier4_perception_launch): declare param path argument (`#1394 `_) +* fix(tier4_perception_launch): remove duplicated namespace of clustering in camera-lidar-fusion mode (`#1655 `_) +* feat(tier4_perception_launch): change unknown max area (`#1484 `_) +* fix(tier4_perception_launch): fix error of tier4_perception_launch_param_path (`#1445 `_) +* feat(tier4_perception_launch): declare param path argument (`#1394 `_) * feat(tier4_perception_launch): declare param path argument * Update launch/tier4_perception_launch/launch/perception.launch.xml * fix ci error * fix ci error -* feature: update and fix detection launch (`#1340 `_) +* feature: update and fix detection launch (`#1340 `_) * cosmetic change * fix bug * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): add group tag (`#1238 `_) +* fix(tier4_perception_launch): add group tag (`#1238 `_) * fix(tier4_perception_launch): add group tag * fix missing tag -* fix(tier4_perception_launch): pass pointcloud_container params to pointcloud_map_filter in detection module (`#1312 `_) +* fix(tier4_perception_launch): pass pointcloud_container params to pointcloud_map_filter in detection module (`#1312 `_) * fix(tier4_perception_launch): pass pointcloud_container to detection module * fix(tier4_perception_launch): container name in detection -* feat(tier4_perception_launch): add object filter params to tier4_perception_launch (`#1322 `_) +* feat(tier4_perception_launch): add object filter params to tier4_perception_launch (`#1322 `_) * Add params to tier4_perception_launch * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: avoid same name nodes in detection module (`#1301 `_) +* fix: avoid same name nodes in detection module (`#1301 `_) * fix: avoid same name nodes in detection module * add node_name of object_association_merger * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -1597,24 +1634,24 @@ Changelog for package tier4_perception_launch Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> * apply pre-commit Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* Feature/radar fusion launch (`#1294 `_) - * feat(tier4_perception_launch): add radar launcher (`#1263 `_) +* Feature/radar fusion launch (`#1294 `_) + * feat(tier4_perception_launch): add radar launcher (`#1263 `_) * feat(tier4_perception_launch): add radar launcher * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix reviewed by `#1263 `_ + * fix reviewed by `#1263 `_ * fix format * fix default arg * Revert "fix default arg" This reverts commit 72b2690dc8cbd91fa5b14da091f4027c2c5fa661. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): revert `#1263 `_ (`#1285 `_) -* feat(tier4_perception_launch): add radar launcher (`#1263 `_) +* feat(tier4_perception_launch): revert `#1263 `_ (`#1285 `_) +* feat(tier4_perception_launch): add radar launcher (`#1263 `_) * feat(tier4_perception_launch): add radar launcher * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change iou param of multi object tracking (`#1267 `_) -* feat(object_filter): add detected object filter (`#1221 `_) +* feat: change iou param of multi object tracking (`#1267 `_) +* feat(object_filter): add detected object filter (`#1221 `_) * Add detected object filter * Refactor class name * Add readme @@ -1639,13 +1676,13 @@ Changelog for package tier4_perception_launch * Fix typo, remove debug code. * Use shared_ptr Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add option to use validator node in detection module (`#1233 `_) +* feat: add option to use validator node in detection module (`#1233 `_) * feat: add option to use validator node in detection module * fix * remove use_validator option in detection/perception.launch * fix -* feat: change tracking param (`#1161 `_) -* feat: unknown objects from perception (`#870 `_) +* feat: change tracking param (`#1161 `_) +* feat: unknown objects from perception (`#870 `_) * initial commit * change param * modify launch @@ -1664,14 +1701,14 @@ Changelog for package tier4_perception_launch * modify for pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* feat: change data association param (`#1158 `_) -* fix(tier4_perception_launch): add missing dependencies in package.xml (`#1024 `_) -* feat: use multithread for traffic light container as default (`#995 `_) -* fix: delete unused arg (`#988 `_) +* feat: change data association param (`#1158 `_) +* fix(tier4_perception_launch): add missing dependencies in package.xml (`#1024 `_) +* feat: use multithread for traffic light container as default (`#995 `_) +* fix: delete unused arg (`#988 `_) * fix: delete unused arg * rename: detection_preprocessor -> pointcloud_map_filter -* fix(tier4_perception_launch): rename pkg name (`#981 `_) -* feat: add down sample filter before detection module (`#961 `_) +* fix(tier4_perception_launch): rename pkg name (`#981 `_) +* feat: add down sample filter before detection module (`#961 `_) * feat: add down sample filter before detection module * fix format * change comment @@ -1684,21 +1721,21 @@ Changelog for package tier4_perception_launch * fix pre-commit Co-authored-by: Yukihiro Saito Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: remove deprecated package in prediction launch (`#875 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: remove deprecated package in prediction launch (`#875 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* feat: change ogm default launch (`#735 `_) -* feat(scan_ground_filter): change launch option and threshold (`#670 `_) +* style: fix format of package.xml (`#844 `_) +* feat: change ogm default launch (`#735 `_) +* feat(scan_ground_filter): change launch option and threshold (`#670 `_) * Add care for near but high points * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(image_projection_based_fusion, roi_cluster_fusion): roi and obstacle fusion method (`#548 `_) +* feat(image_projection_based_fusion, roi_cluster_fusion): roi and obstacle fusion method (`#548 `_) * feat: init image_projection_based_fusion package * feat: debugger * feat: port roi_cluster_fusion to image_projection_based_fusion @@ -1723,7 +1760,7 @@ Changelog for package tier4_perception_launch * chore: add maintainer * feat: change the output in perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) +* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) * initial commit * ci(pre-commit): autofix * change param @@ -1739,15 +1776,15 @@ Changelog for package tier4_perception_launch * add single frame mode * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: localization and perception launch for tutorial (`#645 `_) +* fix: localization and perception launch for tutorial (`#645 `_) * fix: localization and perception launch for tutorial * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: launch detected object validator (`#585 `_) +* feat: launch detected object validator (`#585 `_) * fix bug * add validator in launch * bug fix @@ -1757,13 +1794,13 @@ Changelog for package tier4_perception_launch * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* fix(multi_object_tracker): data association parameter (`#541 `_) +* fix(multi_object_tracker): data association parameter (`#541 `_) * sort matrix * ANIMAL->TRAILER * apply change to another file * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(multi_object_tracker): add iou gate (`#483 `_) +* feat(multi_object_tracker): add iou gate (`#483 `_) * add iou gate * ci(pre-commit): autofix * cosmetic change @@ -1772,23 +1809,23 @@ Changelog for package tier4_perception_launch * fix bug * fix tier4_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: detection launch in perception_launch (`#506 `_) -* fix: integration miss related to camera lidar fusion (`#481 `_) +* fix: detection launch in perception_launch (`#506 `_) +* fix: integration miss related to camera lidar fusion (`#481 `_) * fix integration miss * bug fix * add detection by tracker * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml -* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) +* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) * fix(dummy_perception): fix to use launch file in perception launch * fix(tier4_perception_launch): fix angle increment for occupancy grid -* fix: change the default mode of perception.launch (`#409 `_) +* fix: change the default mode of perception.launch (`#409 `_) * fix: change the default mode of perception.launch * chore: remove unnecessary comments * chore: remove default values -* ci: update .yamllint.yaml (`#229 `_) +* ci: update .yamllint.yaml (`#229 `_) * ci: update .yamllint.yaml * chore: fix for yamllint -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index d72e6c0462fec..47d910a6f52f1 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -34,9 +34,18 @@ - - + + + + + + + + + + + @@ -98,31 +107,22 @@ - - - - - - - - - - - - - + + + + + + + + + + + + + + + + @@ -310,19 +310,29 @@ - - - - - - + + + + + + + + + + + - - - - - + + + + + + + + + + diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml index 7fc132d1ced1d..134e88a4cda76 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml @@ -1,104 +1,122 @@ + - - - - - - - - - - - + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + - + - + - - + + + + + - - - + + + + + + + + + + + + + + + + + - - - - - - - + + - + + + - + - - - + + + - + + - - - - - - - - - - - - - - - - + + + + + + + + + - + diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_camera_info_relay.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_camera_info_relay.launch.py index 1da73d45add74..41329974ddc7d 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_camera_info_relay.launch.py +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_camera_info_relay.launch.py @@ -42,23 +42,23 @@ def create_traffic_light_camera_info_relay(namespace): def launch_setup(context, *args, **kwargs): - # Load all camera namespaces - all_camera_namespaces = LaunchConfiguration("all_camera_namespaces").perform(context) + # Load camera namespaces + camera_namespaces = LaunchConfiguration("camera_namespaces").perform(context) # Convert string to list - all_camera_namespaces = yaml.load(all_camera_namespaces, Loader=yaml.FullLoader) - if not isinstance(all_camera_namespaces, list): + camera_namespaces = yaml.load(camera_namespaces, Loader=yaml.FullLoader) + if not isinstance(camera_namespaces, list): raise ValueError( - "all_camera_namespaces is not a list. You should declare it like `['camera6', 'camera7']`." + "camera_namespaces is not a list. You should declare it like `['camera6', 'camera7']`." ) - if not all((isinstance(v, str) for v in all_camera_namespaces)): + if not all((isinstance(v, str) for v in camera_namespaces)): raise ValueError( - "all_camera_namespaces is not a list of strings. You should declare it like `['camera6', 'camera7']`." + "camera_namespaces is not a list of strings. You should declare it like `['camera6', 'camera7']`." ) # Create containers for all cameras traffic_light_recognition_containers = [ - create_traffic_light_camera_info_relay(namespace) for namespace in all_camera_namespaces + create_traffic_light_camera_info_relay(namespace) for namespace in camera_namespaces ] return traffic_light_recognition_containers @@ -66,7 +66,7 @@ def launch_setup(context, *args, **kwargs): def generate_launch_description(): return launch.LaunchDescription( [ - DeclareLaunchArgument("all_camera_namespaces", description="camera namespace list"), + DeclareLaunchArgument("camera_namespaces"), OpaqueFunction(function=launch_setup), ] ) diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_map_based_detector.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_map_based_detector.launch.py index cc760e409fddc..5d87b05010ee0 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_map_based_detector.launch.py +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_map_based_detector.launch.py @@ -32,14 +32,21 @@ def create_traffic_light_map_based_detector(namespace, context): output_rois = ( "rough/rois" - if IfCondition(LaunchConfiguration("use_ml_detector")).evaluate(context) + if IfCondition(LaunchConfiguration("use_high_accuracy_detection")).evaluate(context) else f"/perception/traffic_light_recognition/{namespace}/detection/rois" ) + each_namespace_param_path = LaunchConfiguration("param_path").perform(context) + each_namespace_param_path = each_namespace_param_path.replace( + "TRAFFIC_LIGHT_RECOGNITION_CAMERA_NAMESPACE", namespace + ) arguments = { + "input/vector_map": LaunchConfiguration("input/vector_map"), "input/camera_info": f"/sensing/camera/{namespace}/camera_info", + "input/route": LaunchConfiguration("input/route"), "expect/rois": "expect/rois", "output/rois": output_rois, + "param_path": each_namespace_param_path, }.items() group = GroupAction( @@ -55,23 +62,23 @@ def create_traffic_light_map_based_detector(namespace, context): def launch_setup(context, *args, **kwargs): # Load all camera namespaces - all_camera_namespaces = LaunchConfiguration("all_camera_namespaces").perform(context) + camera_namespaces = LaunchConfiguration("camera_namespaces").perform(context) # Convert string to list - all_camera_namespaces = yaml.load(all_camera_namespaces, Loader=yaml.FullLoader) - if not isinstance(all_camera_namespaces, list): + camera_namespaces = yaml.load(camera_namespaces, Loader=yaml.FullLoader) + if not isinstance(camera_namespaces, list): raise ValueError( - "all_camera_namespaces is not a list. You should declare it like `['camera6', 'camera7']`." + "camera_namespaces is not a list. You should declare it like `['camera6', 'camera7']`." ) - if not all((isinstance(v, str) for v in all_camera_namespaces)): + if not all((isinstance(v, str) for v in camera_namespaces)): raise ValueError( - "all_camera_namespaces is not a list of strings. You should declare it like `['camera6', 'camera7']`." + "camera_namespaces is not a list of strings. You should declare it like `['camera6', 'camera7']`." ) # Create containers for all cameras traffic_light_recognition_containers = [ create_traffic_light_map_based_detector(namespace, context) - for namespace in all_camera_namespaces + for namespace in camera_namespaces ] return traffic_light_recognition_containers @@ -85,12 +92,11 @@ def add_launch_arg(name: str, default_value=None, description=None): DeclareLaunchArgument(name, default_value=default_value, description=description) ) - add_launch_arg("all_camera_namespaces", "[camera6, camera7]") - add_launch_arg( - "use_ml_detector", - "True", - "If True, output_topic will be for ml detector, otherwise for classifier", - ) + add_launch_arg("camera_namespaces") + add_launch_arg("input/vector_map") + add_launch_arg("input/route") + add_launch_arg("use_high_accuracy_detection") + add_launch_arg("param_path") return launch.LaunchDescription( [ diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py index 43818dad6841a..bc3cd9b4a124b 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py @@ -13,9 +13,7 @@ # limitations under the License. from itertools import chain -import os -from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import GroupAction @@ -24,7 +22,6 @@ from launch.conditions import IfCondition from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration -from launch.substitutions import PathJoinSubstitution from launch.substitutions import PythonExpression from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes @@ -35,25 +32,32 @@ def launch_setup(context, *args, **kwargs): + high_accuracy_detection_type = LaunchConfiguration("high_accuracy_detection_type").perform( + context + ) + assert high_accuracy_detection_type in [ + "whole_image_detection", + "fine_detection", + ], "high_accuracy_detection_type must be either 'whole_image_detection' or 'fine_detection'." - # Load all camera namespaces - all_camera_namespaces = LaunchConfiguration("all_camera_namespaces").perform(context) + # Load camera namespaces + camera_namespaces = LaunchConfiguration("camera_namespaces").perform(context) # Convert string to list - all_camera_namespaces = yaml.load(all_camera_namespaces, Loader=yaml.FullLoader) - if not isinstance(all_camera_namespaces, list): + camera_namespaces = yaml.load(camera_namespaces, Loader=yaml.FullLoader) + if not isinstance(camera_namespaces, list): raise ValueError( - "all_camera_namespaces is not a list. You should declare it like `['camera6', 'camera7']`." + "camera_namespaces is not a list. You should declare it like `['camera6', 'camera7']`." ) - if not all((isinstance(v, str) for v in all_camera_namespaces)): + if not all((isinstance(v, str) for v in camera_namespaces)): raise ValueError( - "all_camera_namespaces is not a list of strings. You should declare it like `['camera6', 'camera7']`." + "camera_namespaces is not a list of strings. You should declare it like `['camera6', 'camera7']`." ) # Create containers for all cameras traffic_light_recognition_containers = [ create_traffic_light_node_container(namespace, context, *args, **kwargs) - for namespace in all_camera_namespaces + for namespace in camera_namespaces ] traffic_light_recognition_containers = list(chain(*traffic_light_recognition_containers)) @@ -65,28 +69,36 @@ def create_traffic_light_node_container(namespace, context, *args, **kwargs): "input/camera_info": f"/sensing/camera/{namespace}/camera_info", "input/image": f"/sensing/camera/{namespace}/image_raw", "output/rois": f"/perception/traffic_light_recognition/{namespace}/detection/rois", - "output/traffic_signals": f"/perception/traffic_light_recognition/{namespace}/classification/traffic_signals", "output/car/traffic_signals": f"/perception/traffic_light_recognition/{namespace}/classification/car/traffic_signals", "output/pedestrian/traffic_signals": f"/perception/traffic_light_recognition/{namespace}/classification/pedestrian/traffic_signals", - "output/debug": f"/perception/traffic_light_recognition/{namespace}/detection/rois/debug", + "output/traffic_signals": f"/perception/traffic_light_recognition/{namespace}/classification/traffic_signals", } - def create_parameter_dict(*args): - result = {} - for x in args: - result[x] = LaunchConfiguration(x) - return result - - fine_detector_model_param = ParameterFile( - param_file=LaunchConfiguration("fine_detector_param_path").perform(context), + # parameter files + traffic_light_whole_image_detector_param = ParameterFile( + param_file=LaunchConfiguration("yolox_traffic_light_detector_param_path").perform(context), + allow_substs=True, + ) + traffic_light_fine_detector_param = ParameterFile( + param_file=LaunchConfiguration("traffic_light_fine_detector_param_path").perform(context), + allow_substs=True, + ) + car_traffic_light_classifier_param = ParameterFile( + param_file=LaunchConfiguration("car_traffic_light_classifier_param_path").perform(context), + allow_substs=True, + ) + pedestrian_traffic_light_classifier_param = ParameterFile( + param_file=LaunchConfiguration("pedestrian_traffic_light_classifier_param_path").perform( + context + ), allow_substs=True, ) - car_traffic_light_classifier_model_param = ParameterFile( - param_file=LaunchConfiguration("car_classifier_param_path").perform(context), + traffic_light_roi_visualizer_param = ParameterFile( + param_file=LaunchConfiguration("traffic_light_roi_visualizer_param_path").perform(context), allow_substs=True, ) - pedestrian_traffic_light_classifier_model_param = ParameterFile( - param_file=LaunchConfiguration("pedestrian_classifier_param_path").perform(context), + traffic_light_selector_param = ParameterFile( + param_file=LaunchConfiguration("traffic_light_selector_param_path").perform(context), allow_substs=True, ) @@ -101,11 +113,18 @@ def create_parameter_dict(*args): plugin="autoware::traffic_light::TrafficLightClassifierNodelet", name="car_traffic_light_classifier", namespace="classification", - parameters=[car_traffic_light_classifier_model_param, {"build_only": False}], + parameters=[ + car_traffic_light_classifier_param, + { + "build_only": False, + "label_path": LaunchConfiguration("classification/car/label_path"), + "model_path": LaunchConfiguration("classification/car/model_path"), + }, + ], remappings=[ ("~/input/image", camera_arguments["input/image"]), ("~/input/rois", camera_arguments["output/rois"]), - ("~/output/traffic_signals", "classified/car/traffic_signals"), + ("~/output/traffic_signals", "car/traffic_signals"), ], extra_arguments=[ {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} @@ -116,11 +135,18 @@ def create_parameter_dict(*args): plugin="autoware::traffic_light::TrafficLightClassifierNodelet", name="pedestrian_traffic_light_classifier", namespace="classification", - parameters=[pedestrian_traffic_light_classifier_model_param, {"build_only": False}], + parameters=[ + pedestrian_traffic_light_classifier_param, + { + "build_only": False, + "label_path": LaunchConfiguration("classification/pedestrian/label_path"), + "model_path": LaunchConfiguration("classification/pedestrian/model_path"), + }, + ], remappings=[ ("~/input/image", camera_arguments["input/image"]), ("~/input/rois", camera_arguments["output/rois"]), - ("~/output/traffic_signals", "classified/pedestrian/traffic_signals"), + ("~/output/traffic_signals", "pedestrian/traffic_signals"), ], extra_arguments=[ {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} @@ -130,7 +156,14 @@ def create_parameter_dict(*args): package="autoware_traffic_light_visualization", plugin="autoware::traffic_light::TrafficLightRoiVisualizerNode", name="traffic_light_roi_visualizer", - parameters=[create_parameter_dict("use_ml_detector", "use_image_transport")], + parameters=[ + traffic_light_roi_visualizer_param, + { + "use_high_accuracy_detection": LaunchConfiguration( + "use_high_accuracy_detection" + ) + }, + ], remappings=[ ("~/input/image", camera_arguments["input/image"]), ("~/input/rois", camera_arguments["output/rois"]), @@ -183,7 +216,14 @@ def create_parameter_dict(*args): plugin="autoware::traffic_light::TrafficLightFineDetectorNode", name="traffic_light_fine_detector", namespace=f"{namespace}/detection", - parameters=[fine_detector_model_param, {"build_only": False}], + parameters=[ + traffic_light_fine_detector_param, + { + "build_only": False, + "label_path": LaunchConfiguration("fine_detection/label_path"), + "model_path": LaunchConfiguration("fine_detection/model_path"), + }, + ], remappings=[ ("~/input/image", camera_arguments["input/image"]), ("~/input/rois", "rough/rois"), @@ -200,53 +240,43 @@ def create_parameter_dict(*args): PythonExpression( [ "'", - LaunchConfiguration("ml_detection_model_type"), - "' == 'fine_detection_model' ", + LaunchConfiguration("high_accuracy_detection_type"), + "' == 'fine_detection' ", ] ) ), ) - # cspell: ignore semseg + internal_node_name = "traffic_light_whole_image_detector" whole_img_detector_loader = LoadComposableNodes( composable_node_descriptions=[ ComposableNode( package="autoware_tensorrt_yolox", plugin="autoware::tensorrt_yolox::TrtYoloXNode", - name="traffic_light_detector", + name=internal_node_name, namespace=f"{namespace}/detection", parameters=[ - LaunchConfiguration("whole_image_detector_param_path"), + traffic_light_whole_image_detector_param, { - "model_path": PathJoinSubstitution( - [ - LaunchConfiguration("whole_image_detector_model_path"), - LaunchConfiguration("whole_image_detector_model_name"), - ] - ), - "label_path": PathJoinSubstitution( - [ - LaunchConfiguration("whole_image_detector_model_path"), - "car_ped_tl_detector_labels.txt", - ] - ), "build_only": False, - "clip_value": 0.0, + "label_path": LaunchConfiguration("whole_image_detection/label_path"), + "model_path": LaunchConfiguration("whole_image_detection/model_path"), + "color_map_path": "", # not used }, ], remappings=[ ("~/in/image", camera_arguments["input/image"]), - ("~/out/objects", "ml_detected/rois"), - ("~/out/image", camera_arguments["output/debug"] + "/image"), + ("~/out/objects", internal_node_name + "/rois"), + ("~/out/image", internal_node_name + "/debug/image"), ( "~/out/image/compressed", - camera_arguments["output/debug"] + "/image/compressed", + internal_node_name + "/debug/image/compressed", ), ( "~/out/image/compressedDepth", - camera_arguments["output/debug"] + "/image/compressedDepth", + internal_node_name + "/debug/image/compressedDepth", ), - ("~/out/image/theora", camera_arguments["output/debug"] + "/image/theora"), + ("~/out/image/theora", internal_node_name + "/debug/image/theora"), ], extra_arguments=[ {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} @@ -257,13 +287,9 @@ def create_parameter_dict(*args): plugin="autoware::traffic_light::TrafficLightSelectorNode", name="traffic_light_selector", namespace=f"{namespace}/detection", - parameters=[ - { - "max_iou_threshold": -0.5, - } - ], + parameters=[traffic_light_selector_param], remappings=[ - ("input/detected_rois", "ml_detected/rois"), + ("input/detected_rois", internal_node_name + "/rois"), ("input/rough_rois", "rough/rois"), ("input/expect_rois", "expect/rois"), ("input/camera_info", camera_arguments["input/camera_info"]), @@ -277,8 +303,8 @@ def create_parameter_dict(*args): namespace=f"{namespace}/classification", parameters=[], remappings=[ - ("input/car_signals", "classified/car/traffic_signals"), - ("input/pedestrian_signals", "classified/pedestrian/traffic_signals"), + ("input/car_signals", "car/traffic_signals"), + ("input/pedestrian_signals", "pedestrian/traffic_signals"), ("output/traffic_signals", camera_arguments["output/traffic_signals"]), ], ), @@ -288,8 +314,8 @@ def create_parameter_dict(*args): PythonExpression( [ "'", - LaunchConfiguration("ml_detection_model_type"), - "' == 'whole_image_detection_model' ", + LaunchConfiguration("high_accuracy_detection_type"), + "' == 'whole_image_detection' ", ] ) ), @@ -312,44 +338,34 @@ def add_launch_arg(name: str, default_value=None, description=None): DeclareLaunchArgument(name, default_value=default_value, description=description) ) - tensorrt_yolox_share_dir = get_package_share_directory("autoware_tensorrt_yolox") - fine_detector_share_dir = get_package_share_directory("autoware_traffic_light_fine_detector") - classifier_share_dir = get_package_share_directory("autoware_traffic_light_classifier") - add_launch_arg("all_camera_namespaces", "[camera6, camera7]") - add_launch_arg("enable_image_decompressor", "True") - add_launch_arg("use_ml_detector", "True") - add_launch_arg("ml_detection_model_type", "fine_detection_model") - add_launch_arg("use_image_transport", "True") + add_launch_arg("enable_image_decompressor") + add_launch_arg("camera_namespaces") + add_launch_arg("use_high_accuracy_detection") + add_launch_arg("high_accuracy_detection_type") - # traffic_light_fine_detector - add_launch_arg( - "fine_detector_param_path", - os.path.join(fine_detector_share_dir, "config", "traffic_light_fine_detector.param.yaml"), - ) + # whole image detector by yolox + add_launch_arg("whole_image_detection/model_path") + add_launch_arg("whole_image_detection/label_path") + add_launch_arg("yolox_traffic_light_detector_param_path") - # whole image (traffic light) detector by yolox - add_launch_arg( - "whole_image_detector_model_path", os.path.expandvars("$HOME/autoware_data/tensorrt_yolox") - ) - add_launch_arg("whole_image_detector_model_name", "tlr_car_ped_yolox_s_960_960_batch_1") - add_launch_arg( - "whole_image_detector_param_path", - os.path.join(tensorrt_yolox_share_dir, "config", "yolox_traffic_light_detector.param.yaml"), - ) + # traffic_light_fine_detector + add_launch_arg("fine_detection/model_path") + add_launch_arg("fine_detection/label_path") + add_launch_arg("traffic_light_fine_detector_param_path") # traffic_light_classifier - add_launch_arg( - "car_classifier_param_path", - os.path.join(classifier_share_dir, "config", "car_traffic_light_classifier.param.yaml"), - ) - add_launch_arg( - "pedestrian_classifier_param_path", - os.path.join( - classifier_share_dir, - "config", - "pedestrian_traffic_light_classifier.param.yaml", - ), - ) + add_launch_arg("classification/car/model_path") + add_launch_arg("classification/car/label_path") + add_launch_arg("classification/pedestrian/model_path") + add_launch_arg("classification/pedestrian/label_path") + add_launch_arg("car_traffic_light_classifier_param_path") + add_launch_arg("pedestrian_traffic_light_classifier_param_path") + + # traffic_light_roi_visualizer + add_launch_arg("traffic_light_roi_visualizer_param_path") + + # traffic_light_selector + add_launch_arg("traffic_light_selector_param_path") add_launch_arg("use_intra_process", "False") add_launch_arg("use_multithread", "False") diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.py index b4a95165758b7..027ce0fac94af 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.py +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.py @@ -30,12 +30,14 @@ def create_traffic_light_occlusion_predictor(namespace): include = PathJoinSubstitution([package, "launch/traffic_light_occlusion_predictor.launch.xml"]) arguments = { - "input/camera_info": f"/sensing/camera/{namespace}/camera_info", "input/cloud": LaunchConfiguration("input/cloud"), + "input/vector_map": LaunchConfiguration("input/vector_map"), + "input/camera_info": f"/sensing/camera/{namespace}/camera_info", "input/rois": f"/perception/traffic_light_recognition/{namespace}/detection/rois", - "input/car/traffic_signals": "classified/car/traffic_signals", - "input/pedestrian/traffic_signals": "classified/pedestrian/traffic_signals", + "input/car/traffic_signals": "car/traffic_signals", + "input/pedestrian/traffic_signals": "pedestrian/traffic_signals", "output/traffic_signals": f"/perception/traffic_light_recognition/{namespace}/classification/traffic_signals", + "param_path": LaunchConfiguration("param_path"), }.items() group = GroupAction( @@ -50,23 +52,23 @@ def create_traffic_light_occlusion_predictor(namespace): def launch_setup(context, *args, **kwargs): - # Load all camera namespaces - all_camera_namespaces = LaunchConfiguration("all_camera_namespaces").perform(context) + # Load camera namespaces + camera_namespaces = LaunchConfiguration("camera_namespaces").perform(context) # Convert string to list - all_camera_namespaces = yaml.load(all_camera_namespaces, Loader=yaml.FullLoader) - if not isinstance(all_camera_namespaces, list): + camera_namespaces = yaml.load(camera_namespaces, Loader=yaml.FullLoader) + if not isinstance(camera_namespaces, list): raise ValueError( - "all_camera_namespaces is not a list. You should declare it like `['camera6', 'camera7']`." + "camera_namespaces is not a list. You should declare it like `['camera6', 'camera7']`." ) - if not all((isinstance(v, str) for v in all_camera_namespaces)): + if not all((isinstance(v, str) for v in camera_namespaces)): raise ValueError( - "all_camera_namespaces is not a list of strings. You should declare it like `['camera6', 'camera7']`." + "camera_namespaces is not a list of strings. You should declare it like `['camera6', 'camera7']`." ) # Create containers for all cameras traffic_light_recognition_containers = [ - create_traffic_light_occlusion_predictor(namespace) for namespace in all_camera_namespaces + create_traffic_light_occlusion_predictor(namespace) for namespace in camera_namespaces ] return traffic_light_recognition_containers @@ -80,8 +82,10 @@ def add_launch_arg(name: str, default_value=None, description=None): DeclareLaunchArgument(name, default_value=default_value, description=description) ) - add_launch_arg("all_camera_namespaces", "[camera6, camera7]") - add_launch_arg("input/cloud", "/sensing/lidar/top/pointcloud_raw_ex") + add_launch_arg("camera_namespaces") + add_launch_arg("input/cloud") + add_launch_arg("input/vector_map") + add_launch_arg("param_path") return launch.LaunchDescription( [ diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index f81720b228b8d..4bd42d3b376c0 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -2,7 +2,7 @@ tier4_perception_launch - 0.42.0 + 0.43.0 The tier4_perception_launch package Yukihiro Saito Yoshi Ri diff --git a/launch/tier4_planning_launch/CHANGELOG.rst b/launch/tier4_planning_launch/CHANGELOG.rst index 4ca8afd179c84..5c437206d8d0c 100644 --- a/launch/tier4_planning_launch/CHANGELOG.rst +++ b/launch/tier4_planning_launch/CHANGELOG.rst @@ -2,10 +2,19 @@ Changelog for package tier4_planning_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(tier4_planning_launch): remap topics for path_generator (`#10249 `_) + remap topics for path_generator +* feat(behavior_planning): add behavior_path_planner_type to launch path_generator (`#10217 `_) +* Contributors: Hayato Mizushima, Kosuke Takeuchi, Mitsuhiro Sakamoto, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) +* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) * feat(motion_velocity_planner): prepare for motion_velocity\__module * update launch --------- @@ -13,7 +22,7 @@ Changelog for package tier4_planning_launch 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,28 +31,28 @@ Changelog for package tier4_planning_launch 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_mission_planner)!: feat(autoware_mission_planner_universe)!: add _universe suffix to package name (`#9941 `_) -* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* feat(autoware_mission_planner)!: feat(autoware_mission_planner_universe)!: add _universe suffix to package name (`#9941 `_) +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix: autoware_glog_compontnt (`#9586 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: autoware_glog_compontnt (`#9586 `_) Fixed autoware_glog_compontnt -* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> @@ -52,9 +61,9 @@ Changelog for package tier4_planning_launch Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -64,9 +73,9 @@ Changelog for package tier4_planning_launch 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -77,9 +86,9 @@ Changelog for package tier4_planning_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) +* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) Register node plugin with autoware scoping -* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) * refactor free space planner subscribers * implement scenario switching for edge cases * fix scenario selector test @@ -90,11 +99,11 @@ Changelog for package tier4_planning_launch * improve near target logic * use timer based implementation for obstacle check --------- -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -108,15 +117,15 @@ Changelog for package tier4_planning_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) +* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) * feat: update namespace and directory structure for compare_map_segmentation code * refactor: update directory structure * fix: add missing include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) -* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) +* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) +* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) * add pointcloud to obstacle properties * add tf listener & pointcloud subscriber * add parameters for pointcloud obstacle @@ -188,18 +197,18 @@ Changelog for package tier4_planning_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) +* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) * refactor(autoware_obstacle_stop_planner): 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> -* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) +* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) * fix * fix --------- -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) -* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) -* refactor(bpp): add namespace `autoware::` (`#7437 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* refactor(bpp): add namespace `autoware::` (`#7437 `_) * refactor: add namespace autoware:: * refactor(bpp-common): add namespace autoware:: * refactor(ablc): add namespace autoware:: @@ -213,24 +222,24 @@ Changelog for package tier4_planning_launch * refactor(tier4_planning_launch): add namespace autoware:: * refactor(sbp): add namespace autoware:: --------- -* refactor(behavior_path_planner): prefix autoware\_ to behavior_path_planner package (`#7433 `_) +* refactor(behavior_path_planner): prefix autoware\_ to behavior_path_planner package (`#7433 `_) * move dir * fix pluginlib --------- -* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) -* refactor(behavior_path_sampling_planner_module): add autoware prefix (`#7392 `_) -* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) +* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) +* refactor(behavior_path_sampling_planner_module): add autoware prefix (`#7392 `_) +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) * refactor(mission_planner)!: add autoware prefix and namespace * fix svg --------- -* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) +* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) refactor(freespace_planner)!: add autoawre prefix -* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) +* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) refactor(external_cmd_selector): prefix package and namespace with autoware\_ -* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) -* fix(motion_planning.launch): fix input traj of obstacle_velocity_limiter (`#7386 `_) -* refactor(out_of_lane): remove from behavior_velocity (`#7359 `_) -* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) +* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) +* fix(motion_planning.launch): fix input traj of obstacle_velocity_limiter (`#7386 `_) +* refactor(out_of_lane): remove from behavior_velocity (`#7359 `_) +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) * git mv * fix * fix launch @@ -240,47 +249,47 @@ Changelog for package tier4_planning_launch * fix static_centerline_optimizer * fix --------- -* fix(tier4_planning_launch): unexpected modules were registered (`#7377 `_) -* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) +* fix(tier4_planning_launch): unexpected modules were registered (`#7377 `_) +* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) refactor(costmap_generator): add autoware prefix -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) +* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) * add autoware\_ prefix to planning_validator * add prefix to package name in .pages * fix link of the image --------- -* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) +* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) * refactor(behavior_velocity_planner_common): add autoware prefix * refactor(behavior_velocity_planner_common): fix run_out module * refactor(behavior_velocity_planner_common): fix for autoware_behavior_velocity_walkway_module * refactor(behavior_velocity_planner_common): remove unnecessary using --------- -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) -* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) * fix(autoware_surround_obstacle_checker): rename * fix(autoware_surround_obstacle_checker): rename header * fix(launch): update package name --------- -* refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace (`#7153 `_) +* refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace (`#7153 `_) * refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace * style(pre-commit): autofix * fix: fix issue loading packages that have been prefixed --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) +* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) chore(autoware_planning_topic_converter): rename -* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) +* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) chore(autoware_external_velocity_limit_selector): rename -* refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace (`#7154 `_) +* refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace (`#7154 `_) * refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_velocity_virtual_traffic_light_module): prefix package with autoware\_ and move code to the autoware namespace (`#7155 `_) -* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) +* refactor(autoware_velocity_virtual_traffic_light_module): prefix package with autoware\_ and move code to the autoware namespace (`#7155 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) * feat!: replace autoware_auto_msgs with autoware_msgs for launch files Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong @@ -291,7 +300,7 @@ Changelog for package tier4_planning_launch Co-authored-by: NorahXiong Co-authored-by: beginningfan Co-authored-by: Yukihiro Saito -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -302,7 +311,7 @@ Changelog for package tier4_planning_launch * fix: test * fix: test --------- -* chore(static_obstacle_avoidance, dynamic_obstacle_avoidance): rename avoidance package (`#7168 `_) +* chore(static_obstacle_avoidance, dynamic_obstacle_avoidance): rename avoidance package (`#7168 `_) * chore(autoware_behavior_path_static_obstacle_avoidance_module): rename package and namespace * chore(autoware_behavior_path_dynamic_obstacle_avoidance_module): rename package and namespace * chore(tier4_planning_launch): update module name @@ -312,13 +321,13 @@ Changelog for package tier4_planning_launch * fix(AbLC): fix file name * docs: update module name --------- -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) -* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) -* build(behavior_path_external_request_lane_change_module): prefix package and namespace with autoware\_ (`#6636 `_) -* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) -* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) +* build(behavior_path_external_request_lane_change_module): prefix package and namespace with autoware\_ (`#6636 `_) +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) This reverts commit 51b5f830780eb69bd1a7dfe60e295773f394fd8e. -* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) +* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) * feat(launch): add logging_demo::LoggerConfig into container * fix(logger_level_reconfigure_plugin): fix yaml * feat(logging_level_configure): add composable node @@ -327,13 +336,13 @@ Changelog for package tier4_planning_launch 0.26.0 (2024-04-03) ------------------- -* chore(tier4_planning_launch): set log output both (`#6685 `_) -* feat(traffic_light): depend on is_simulation for scenario simulator (`#6498 `_) +* chore(tier4_planning_launch): set log output both (`#6685 `_) +* feat(traffic_light): depend on is_simulation for scenario simulator (`#6498 `_) * feat(traffic_light): depend on is_simulation for scenario simulator * fix comments * fix --------- -* feat(mission_planner)!: introduce route_selector node (`#6363 `_) +* feat(mission_planner)!: introduce route_selector node (`#6363 `_) * feat(mission_planner): introduce route_selector node * remove unused file * fix use goal pose only when resuming @@ -346,7 +355,7 @@ Changelog for package tier4_planning_launch * remove debug code * use full license text instead of spdx --------- -* feat: remove use_pointcloud_container (`#6115 `_) +* feat: remove use_pointcloud_container (`#6115 `_) * feat!: remove use_pointcloud_container * fix pre-commit * fix: completely remove use_pointcloud_container after merge main @@ -354,7 +363,7 @@ Changelog for package tier4_planning_launch * revert: revert change in probabilistic_occupancy_grid_map * revert change in launcher of ogm --------- -* feat(behavior_path_sampling_module): add sampling based planner (`#6131 `_) +* feat(behavior_path_sampling_module): add sampling based planner (`#6131 `_) * first commit: add only necessary bpp code for template * change name of file * delete more unrelated code @@ -472,27 +481,27 @@ Changelog for package tier4_planning_launch * remove unused commented code --------- Co-authored-by: Maxime CLEMENT -* feat(behavior_velocity_planner): add enable_all_modules_auto_mode argument to launch files for behavior velocity planner modules (`#6094 `_) +* feat(behavior_velocity_planner): add enable_all_modules_auto_mode argument to launch files for behavior velocity planner modules (`#6094 `_) * set default value for enable_all_modules_auto_mode * fix enable_rtc configuration in scene_module_manager_interface.hpp * Refactor scene module managers to use getEnableRTC function --------- -* feat(behavior_path_planner): add enable_all_modules_auto_mode argument to launch files for behavior path planner modules (`#6093 `_) +* feat(behavior_path_planner): add enable_all_modules_auto_mode argument to launch files for behavior path planner modules (`#6093 `_) * Add enable_all_modules_auto_mode argument to launch files * set default value for enable_all_modules_auto_mode * fix enable_rtc configuration in scene_module_manager_interface.hpp --------- -* refactor(tier4_planning_launch): remove duplicate arguments in launchfile (`#6040 `_) -* feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (`#5835 `_) -* refactor(behavior_path_planner): remove use_experimental_lane_change_function (`#5889 `_) -* fix(behavior, launch): fix launch error (`#5847 `_) +* refactor(tier4_planning_launch): remove duplicate arguments in launchfile (`#6040 `_) +* feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (`#5835 `_) +* refactor(behavior_path_planner): remove use_experimental_lane_change_function (`#5889 `_) +* fix(behavior, launch): fix launch error (`#5847 `_) * fix(launch): set null to avoid launch error * fix(behavior): check null * chore(behavior): add comment * fix(launch): set at the end of list * fix(launch): fill empty string at the end of module list --------- -* refactor(bpp): use pluginlib to load scene module (`#5771 `_) +* refactor(bpp): use pluginlib to load scene module (`#5771 `_) * refactor(bpp): use pluginlib * refactor(tier4_planning_launch): update launcher * refactor(avoidance): support pluginlib @@ -504,30 +513,30 @@ Changelog for package tier4_planning_launch * refactor(bpp): move interface * fix(bpp): add const --------- -* fix(tier4_planning_launch): obstacle_cruise_planner pipeline is not connected (`#5542 `_) -* refactor(tier4_planning_launch): align argument name (`#5505 `_) +* fix(tier4_planning_launch): obstacle_cruise_planner pipeline is not connected (`#5542 `_) +* refactor(tier4_planning_launch): align argument name (`#5505 `_) * chore(tier4_planning_launch): align arument name * refactor(tier4_planning_launch): pass params directly --------- -* refactor(tier4_planning_launch): use xml style launch (`#5502 `_) +* refactor(tier4_planning_launch): use xml style launch (`#5502 `_) * refactor(tier4_planning_launch): use xml style launch * refactor(tier4_planning_launch): remove python style launch * fix(tier4_planning_launch): enable console output --------- -* chore(planning modules): remove maintainer... (`#5458 `_) +* chore(planning modules): remove maintainer... (`#5458 `_) remove shimizu-san from maintainer and add maintainer for stop line and turn signal decider -* refactor(tier4_planning_launch): use xml style launch (`#5470 `_) +* refactor(tier4_planning_launch): use xml style launch (`#5470 `_) * refactor(tier4_planning_launch): use xml style launch * refactor(tier4_planning_launch): remove python style launch * fix(tier4_plannning_launch): fix namespace --------- -* refactor(tier4_planning_launch): use xml style launch (`#5448 `_) +* refactor(tier4_planning_launch): use xml style launch (`#5448 `_) * refactor(tier4_planning_launch): use xml style launch * refactor(tier4_planning_launch): remove python style launch --------- -* feat(behavior_path_planner): subscribe traffic light recognition result (`#5436 `_) +* feat(behavior_path_planner): subscribe traffic light recognition result (`#5436 `_) feat(avoidance): use traffic light signal info -* feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (`#5235 `_) +* feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (`#5235 `_) * change namespace of auto_mode * delete RTC auto mode manager package * delete rtc_replayer.param @@ -536,7 +545,7 @@ Changelog for package tier4_planning_launch * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) +* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) * feat(behavior_velocity): support new traffic signal interface * style(pre-commit): autofix * add missing dependency @@ -553,12 +562,12 @@ Changelog for package tier4_planning_launch * add debug log when the signal data is outdated --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(mission_planning.launch): add glog in mission planner (`#4745 `_) -* feat(motion_velocity_smoother.launch): add glog component (`#4746 `_) +* feat(mission_planning.launch): add glog in mission planner (`#4745 `_) +* feat(motion_velocity_smoother.launch): add glog component (`#4746 `_) * use node instead of include * use container & add glog component --------- -* feat(glog): add glog in planning and control modules (`#4714 `_) +* feat(glog): add glog in planning and control modules (`#4714 `_) * feat(glog): add glog component * formatting * remove namespace @@ -574,9 +583,9 @@ Changelog for package tier4_planning_launch * add copyright --------- Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* chore(tier4_planning_launch): enable to abort lane change from a parameter file (`#4469 `_) -* refactor(behavior_path_planner): remove unused config files (`#4241 `_) -* refactor(obstacle_avoidance_planner): move the elastic band smoothing to a new package (`#4114 `_) +* chore(tier4_planning_launch): enable to abort lane change from a parameter file (`#4469 `_) +* refactor(behavior_path_planner): remove unused config files (`#4241 `_) +* refactor(obstacle_avoidance_planner): move the elastic band smoothing to a new package (`#4114 `_) * Add path_smoothing package * Add elastic band smoother node * Add Debug section to elastic band documentation @@ -587,13 +596,13 @@ Changelog for package tier4_planning_launch * Publish path with backward paths * Rename path_smoothing -> path_smoother --------- -* fix(obstacle_velocity_limiter): remove hardcoded parameter (`#4098 `_) -* refactor(lane_change): add namespace for lane-change-cancel (`#4090 `_) +* fix(obstacle_velocity_limiter): remove hardcoded parameter (`#4098 `_) +* refactor(lane_change): add namespace for lane-change-cancel (`#4090 `_) * refactor(lane_change): add namespace for lane-change-cancel * fix indent * lane_change_cancel -> cancel --------- -* refactor(behavior_velocity_planner): update launch and parameter files for plugin (`#3811 `_) +* refactor(behavior_velocity_planner): update launch and parameter files for plugin (`#3811 `_) * feat: move param files * WIP * feat: use behavior velocity module param file list @@ -607,22 +616,22 @@ Changelog for package tier4_planning_launch * move param * add test depend --------- -* refactor(start_planner): rename pull out to start planner (`#3908 `_) -* feat: handle invalid areas / lanelets (`#3000 `_) -* feat(behavior_path_planner): output stop reasons (`#3807 `_) +* refactor(start_planner): rename pull out to start planner (`#3908 `_) +* feat: handle invalid areas / lanelets (`#3000 `_) +* feat(behavior_path_planner): output stop reasons (`#3807 `_) * feat(launch): remap stop reasons * feat(behavior_path_planner): add interface to output stop reasons * feat(behavior_path_planner): add interface to output stop reasons * feat(avoidance): output stop reason --------- -* feat(path_sampler): add a sampling based path planner (`#3532 `_) -* style: fix typos (`#3617 `_) +* feat(path_sampler): add a sampling based path planner (`#3532 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -630,7 +639,7 @@ Changelog for package tier4_planning_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(behavior_path_planner): add dynamic obstacle avoidance module (`#3415 `_) +* feat(behavior_path_planner): add dynamic obstacle avoidance module (`#3415 `_) * implement dynamic avoidance module * update * update @@ -648,18 +657,18 @@ Changelog for package tier4_planning_launch * fix --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) -* refactor(behavior_path_planeer): use common.params for lane change (`#3520 `_) +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) +* refactor(behavior_path_planeer): use common.params for lane change (`#3520 `_) * refactor(behavior_path_planeer): use common.params for lane change * update --------- -* feat(behavior_path_planner): move lane_following_params to behavior path params (`#3445 `_) +* feat(behavior_path_planner): move lane_following_params to behavior path params (`#3445 `_) * feat(behavior_path_planner): move lane_following_params to behavior path params * fix missing pakage include * fix test --------- -* chore(planning_evaluator): add dependency (`#3388 `_) -* feat(behavior_velocity_planner): add out of lane module (`#3191 `_) +* chore(planning_evaluator): add dependency (`#3388 `_) +* feat(behavior_velocity_planner): add out of lane module (`#3191 `_) * Add OutOfLane module to the behavior_velocity_planner * Add functions for calculating path footprint and overlaps (WIP) * Update behavior_planning launch file to add out_of_lane param file @@ -722,7 +731,7 @@ Changelog for package tier4_planning_launch * Remove default value for declare_parameter of 'launch_run_out' --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* feat(avoidance_by_lc): add new module to avoid obstacle by lane change (`#3125 `_) +* feat(avoidance_by_lc): add new module to avoid obstacle by lane change (`#3125 `_) * feat(rtc_interface): add new module avoidance by lc * feat(launch): add new param files * feat(avoidance_by_lc): add avoidance by lane change module @@ -732,12 +741,12 @@ Changelog for package tier4_planning_launch * fix request condition * fix build error --------- -* feat(behavior_path_planner): update behavior param file (`#3220 `_) +* feat(behavior_path_planner): update behavior param file (`#3220 `_) * feat(behavior_path_planner): add new config file for manger * feat(launch): add config path * fix(behavior_path_planner): add missing param file --------- -* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) +* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) * add original diagnostic_convertor * add test * fix typo @@ -787,8 +796,8 @@ Changelog for package tier4_planning_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(mission_planner): refine goal pose with parameter and add config file (`#2603 `_) -* feat(behavior_path_planner): pull over freespace parking (`#2879 `_) +* feat(mission_planner): refine goal pose with parameter and add config file (`#2603 `_) +* feat(behavior_path_planner): pull over freespace parking (`#2879 `_) * feat(behavior_path_planner): pull over freespace parking * Update planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp Co-authored-by: Takamasa Horibe @@ -801,19 +810,19 @@ Changelog for package tier4_planning_launch * pre-commit --------- Co-authored-by: Takamasa Horibe -* refactor(obstacle_avoidance_planner): clean up the code (`#2796 `_) +* refactor(obstacle_avoidance_planner): clean up the code (`#2796 `_) * update obstacle avoidance planner, static centerline optimizer, tier4_planning_launch * update velocity on joint and correct trajectory z * update * minor change * pre-commit --------- -* refactor(planning_error_monitor): remove pkg (`#2604 `_) +* refactor(planning_error_monitor): remove pkg (`#2604 `_) * remove planning_error_monitor * remove launch --------- -* fix(tier4_planning_launch): remove unnecessary config (`#2910 `_) -* feat(behavior_velocity): add mandatory detection area for run out module (`#2864 `_) +* fix(tier4_planning_launch): remove unnecessary config (`#2910 `_) +* feat(behavior_velocity): add mandatory detection area for run out module (`#2864 `_) * feat: add mandatory detection area * change the topic order to subscribe compare map filtered points * define function for transform pointcloud @@ -835,12 +844,12 @@ Changelog for package tier4_planning_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): expand the drivable area based on the vehicle footprint (`#2609 `_) -* ci(pre-commit): autoupdate (`#2819 `_) +* feat(behavior_path_planner): expand the drivable area based on the vehicle footprint (`#2609 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_planning_launch): add missing params and sort params of costmap generator (`#2764 `_) -* refactor(behavior_path_planner): set occupancy grid map topic name from launch (`#2725 `_) -* feat(behavior_path_planner): external request lane change (`#2442 `_) +* chore(tier4_planning_launch): add missing params and sort params of costmap generator (`#2764 `_) +* refactor(behavior_path_planner): set occupancy grid map topic name from launch (`#2725 `_) +* feat(behavior_path_planner): external request lane change (`#2442 `_) * feature(behavior_path_planner): add external request lane change module feature(behavior_path_planner): fix for RTC feature(behavior_path_planner): fix decision logic @@ -862,7 +871,7 @@ Changelog for package tier4_planning_launch * Update rtc_auto_mode_manager.param.yaml * fix(route_handler): remove redundant code * fix(behavior_path_planner): fix for turn signal -* feat(planning_validator): add planning validator package (`#1947 `_) +* feat(planning_validator): add planning validator package (`#1947 `_) * feat(planning_validator): add planning validator package * remove planning_error_monitor * pre-commit @@ -899,21 +908,21 @@ Changelog for package tier4_planning_launch * update doc! * fix readme * update -* feat(behavior_path_planner): modified goal with uuid (`#2602 `_) +* feat(behavior_path_planner): modified goal with uuid (`#2602 `_) * feat(behavior_path_planner): modified goal with uuid * fix typo * fix for top header * change to PoseWithUuidStamped -* fix(tier4_planning_launch): make use_experimental_lane_change_function available (`#2676 `_) -* refactor(tier4_planning_launch): organize arguments (`#2666 `_) +* fix(tier4_planning_launch): make use_experimental_lane_change_function available (`#2676 `_) +* refactor(tier4_planning_launch): organize arguments (`#2666 `_) * refactor(tier4_planning_launch): organize arguments * update -* feat(behavior_path_planner): param to skip some linestring types when expanding the drivable area (`#2288 `_) -* feat(behavior_velocity_planner): add speed bump module (`#647 `_) +* feat(behavior_path_planner): param to skip some linestring types when expanding the drivable area (`#2288 `_) +* feat(behavior_velocity_planner): add speed bump module (`#647 `_) Co-authored-by: Kosuke Takeuchi Co-authored-by: Takayuki Murooka -* fix(tier4_planning_launch): remove unintended config file (`#2554 `_) -* feat(tier4_planning_launch): remove configs and move to autoware_launch (`#2543 `_) +* fix(tier4_planning_launch): remove unintended config file (`#2554 `_) +* feat(tier4_planning_launch): remove configs and move to autoware_launch (`#2543 `_) * feat(tier4_planning_launch): remove configs and move to autoware_launch * fix * remove config @@ -921,15 +930,15 @@ Changelog for package tier4_planning_launch * Update launch/tier4_planning_launch/README.md Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(intersection): fixed stuck vehicle detection area (`#2463 `_) -* feat(behavior_path_planner): remove unnecessary parameters (`#2516 `_) +* fix(intersection): fixed stuck vehicle detection area (`#2463 `_) +* feat(behavior_path_planner): remove unnecessary parameters (`#2516 `_) * feat(behavior_path_planner): remove unnecessary parameters * remove from static_centerline_optimizer -* feat(obstacle_cruies_planner): improve pid_based cruise planner (`#2507 `_) +* feat(obstacle_cruies_planner): improve pid_based cruise planner (`#2507 `_) * feat(obstacle_cruies_planner): improve pid_based cruise planner * fix * update param in tier4_planning_launch -* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) +* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -950,14 +959,14 @@ Changelog for package tier4_planning_launch * fix some codes * change to makerker array * change avoidance utils -* refactor(behavior_path_planner): move turn_signal_on_swerving param to bpp.param.yaml (`#2406 `_) +* refactor(behavior_path_planner): move turn_signal_on_swerving param to bpp.param.yaml (`#2406 `_) * move turn_signal_on_swerving param to bpp.param.yaml * change default value to true * add description * ci(pre-commit): autofix Co-authored-by: beyza Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(avoidance): improve avoidance target filter (`#2329 `_) +* feat(avoidance): improve avoidance target filter (`#2329 `_) * feat(route_handler): add getMostLeftLanelet() * feat(avoidance): calc shiftable ratio in avoidance target filtering process * feat(avoidance): output object's debug info for rviz @@ -965,7 +974,7 @@ Changelog for package tier4_planning_launch * feat(tier4_planning_launch): add new params for avoidance * fix(avoidance): reorder params for readability * fix(tier4_planning_launch): reorder params for readability -* feat(behavior_path_planner): update path when object is gone (`#2314 `_) +* feat(behavior_path_planner): update path when object is gone (`#2314 `_) * feat(behavior_path_planner): update state with obstacles. feat(behavior_path_planner): update path when obstacle is gone * ci(pre-commit): autofix @@ -983,7 +992,7 @@ Changelog for package tier4_planning_launch * ci(pre-commit): autofix * fix typos Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): add option to turn signal while obstacle swerving (`#2333 `_) +* feat(behavior_path_planner): add option to turn signal while obstacle swerving (`#2333 `_) * add turn_signal_on_swerving param * add option for signals * get turn_signal_on_swerving param from config file @@ -991,27 +1000,27 @@ Changelog for package tier4_planning_launch * ci(pre-commit): autofix Co-authored-by: beyza Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb (`#2357 `_) +* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb (`#2357 `_) * fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb * add flag to enable clipping fixed trajectory * add maintainer -* fix(slow_down_planner): improper parameter used in slow down (`#2276 `_) +* fix(slow_down_planner): improper parameter used in slow down (`#2276 `_) * fix(slow_down_planner): improper parameter used in slow down * fix(tier4_planning_launch): remove hardcoded param enable_slow_down from launch.py -* feat(obstacle_avoidance_planner): parameterize non_fixed_trajectory_length (`#2349 `_) -* fix(behavior_path_planner): replace object_hold_max_count with object_last_seen_threshold (`#2345 `_) +* feat(obstacle_avoidance_planner): parameterize non_fixed_trajectory_length (`#2349 `_) +* fix(behavior_path_planner): replace object_hold_max_count with object_last_seen_threshold (`#2345 `_) fix: replace object_hold_max_count with object_last_seen_threshold -* feat(behavior_velocity_planner): parameterize ego_yield_query_stop_duration for crosswalk module (`#2346 `_) +* feat(behavior_velocity_planner): parameterize ego_yield_query_stop_duration for crosswalk module (`#2346 `_) feat: parameterize ego_yield_query_stop_duration for crosswalk module -* feat(avoidance): improve avoidance target filter (`#2282 `_) +* feat(avoidance): improve avoidance target filter (`#2282 `_) * feat(avoidance): use envelope polygon for measure against perception noise * feat(avoidance): use moving time for measure against perception noise * feat(tier4_planning_launch): add new params for avoidance * fix(avoidance): reserve marker array size -* feat(motion_velocity_smoother): tunable deceleration limit for curve … (`#2278 `_) +* feat(motion_velocity_smoother): tunable deceleration limit for curve … (`#2278 `_) feat(motion_velocity_smoother): tunable deceleration limit for curve deceleration -* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) -* feat: add 'obstacle_velocity_limiter' package (`#1579 `_) +* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) +* feat: add 'obstacle_velocity_limiter' package (`#1579 `_) * Initial commit with barebone SafeVelocityAdjustorNode * Add debug topics, launch file, and config file * Fix debug markers @@ -1113,33 +1122,33 @@ Changelog for package tier4_planning_launch * Update copyright notice: Tier IV -> TIER IV * Remove use_sim_time param from node launch file * Update launch files to run in the motion_planner + add launch config -* feat(motion_velocity_smoother): change osqp parameter (`#2157 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* feat(motion_velocity_smoother): change osqp parameter (`#2157 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 (`#2057 `_) -* feat(behavior_path_planner): params to expand drivable area in each module (`#1973 `_) -* feat(behavior_path_planner): add turn signal parameters (`#2086 `_) +* feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 (`#2057 `_) +* feat(behavior_path_planner): params to expand drivable area in each module (`#1973 `_) +* feat(behavior_path_planner): add turn signal parameters (`#2086 `_) * feat(behavior_path_planner): add and change parameters * update * update -* feat(behavior_path_planner): pull_over lateral goal search (`#2036 `_) +* feat(behavior_path_planner): pull_over lateral goal search (`#2036 `_) * feat(behavior_path_planner): pull_over lateral goal search * fix werror of humble -* feat(obstacle_cruise_planner): add an explanation (`#2034 `_) +* feat(obstacle_cruise_planner): add an explanation (`#2034 `_) * feat(obstacle_cruise_planner): add an explanation * update readme -* feat(run_out): avoid chattering of state transition (`#1975 `_) +* feat(run_out): avoid chattering of state transition (`#1975 `_) * feat: keep approach state to avoid chattering of detection * add parameter * update parameter * update documents * revert changed parameter -* feat(obstacle_cruise_planner): add goal safe distance (`#2031 `_) -* chore(behavior_velocity): add maintainer for run out module (`#1967 `_) -* refactor(run_out): add state machine class for state transition (`#1884 `_) +* feat(obstacle_cruise_planner): add goal safe distance (`#2031 `_) +* chore(behavior_velocity): add maintainer for run out module (`#1967 `_) +* refactor(run_out): add state machine class for state transition (`#1884 `_) * refactor(run_out): add state machine class for state transition * remove debug print * move parameters @@ -1148,7 +1157,7 @@ Changelog for package tier4_planning_launch * fix conflict * remove unused argument * fix parameter value -* feat(behavior_path_planner): add pull_over base class (`#1911 `_) +* feat(behavior_path_planner): add pull_over base class (`#1911 `_) * feat(behavior_path_planner): add pull_over base class * modify calculation of velocity abs * modify from review @@ -1161,9 +1170,9 @@ Changelog for package tier4_planning_launch * fix werror * fix build for main Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* chore(tier4_planning_launch): add maintainers (`#1955 `_) -* feat(intersection): use intersection_area if available (`#1733 `_) -* refactor: replace acc calculation in planning control modules (`#1213 `_) +* chore(tier4_planning_launch): add maintainers (`#1955 `_) +* feat(intersection): use intersection_area if available (`#1733 `_) +* refactor: replace acc calculation in planning control modules (`#1213 `_) * [obstacle_cruise_planner] replace acceleration calculation * [obstacle_stop_planner] replace acceleration calculation * [trajectory_follower] replace acceleration calculation @@ -1171,17 +1180,17 @@ Changelog for package tier4_planning_launch * fix nullptr check * fix controller test * fix -* fix: fix missing dependency (`#1891 `_) +* fix: fix missing dependency (`#1891 `_) * fix: fix missing dependency * fix -* feat(obstacle_avoidance_planner): fix can be applied to the first trajectory point (`#1775 `_) +* feat(obstacle_avoidance_planner): fix can be applied to the first trajectory point (`#1775 `_) * add bicycle model collision avoidance and single fixed point * refactor manual warm start * add calculation cost plotter * fix * fix * update params -* feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior (`#1541 `_) +* feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior (`#1541 `_) * feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior * ci(pre-commit): autofix * fix(rtc_auto_mode_manager): fix typo @@ -1196,19 +1205,19 @@ Changelog for package tier4_planning_launch * feat(rtc_auto_mode_manager): fix initialization Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat(behavior_planning): use acceleration from localization module (`#1859 `_) +* feat(behavior_planning): use acceleration from localization module (`#1859 `_) * feat(behavior_path_planner): subscribe acceleration from localization module * feat(behavior_velocity_planner): subscribe acceleration from localization module -* refactor(run_out): remove unused parameter (`#1836 `_) -* feat(obstacle_cruise_planner): add terminal collision checker (`#1807 `_) +* refactor(run_out): remove unused parameter (`#1836 `_) +* feat(obstacle_cruise_planner): add terminal collision checker (`#1807 `_) * feat(motion_utils): add new search zero velocity * change arguments * feat(obstacle_cruise_planner): add terminal collision checker * add parameters * change parameters -* feat(behavior_path_planner): change pull over params (`#1815 `_) -* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) - * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) +* feat(behavior_path_planner): change pull over params (`#1815 `_) +* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) + * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) function added, not turning fix the always positive curvature problem @@ -1252,14 +1261,14 @@ Changelog for package tier4_planning_launch * ci(pre-commit): autofix Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over (`#1796 `_) +* feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over (`#1796 `_) * feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over * Update planning/behavior_path_planner/src/utilities.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> * rename to goal_to_obstacle_margin * fix rear check Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* refactor(obstacle_stop_planner): update params name for readability (`#1720 `_) +* refactor(obstacle_stop_planner): update params name for readability (`#1720 `_) * refactor(obstacle_stop_planner): update parameter name for readability * docs(obstacle_stop_planner): update module documentation * docs(obstacle_stop_planner): update figure @@ -1267,8 +1276,8 @@ Changelog for package tier4_planning_launch * fix(tier4_planning_launch): separate params by namespace * refactor(obstacle_stop_planner): remove default value from declare_parameter * refactor(obstacle_stop_planner): add params to config -* fix(behavior_path_planner): fix pull_over request_length and maximum_deceleration (`#1789 `_) -* feat(behavior_path_planner): use object recognition for pull_over (`#1777 `_) +* fix(behavior_path_planner): fix pull_over request_length and maximum_deceleration (`#1789 `_) +* feat(behavior_path_planner): use object recognition for pull_over (`#1777 `_) * feat(behavior_path_planner): use object recognition for pull_over * Update planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> @@ -1277,7 +1286,7 @@ Changelog for package tier4_planning_launch * remove unnecessary lines * update warn message Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* feat(behavior_path_planner): update pull out (`#1438 `_) +* feat(behavior_path_planner): update pull out (`#1438 `_) * feat(behavior_path_planner): update pull out * refactor(behavior_path_planner): rename pull_out params * update from review @@ -1287,10 +1296,10 @@ Changelog for package tier4_planning_launch * fix debug marker * add seach priority * change before_pull_out_straight_distance to 0.0 -* refactor(behavior_path_planner): rename pull_over params (`#1747 `_) -* feat(intersection): continue detection after pass judge (`#1719 `_) -* feat(behavior_path_palnner): update geometric parallel parking for pull_out module (`#1534 `_) -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* refactor(behavior_path_planner): rename pull_over params (`#1747 `_) +* feat(intersection): continue detection after pass judge (`#1719 `_) +* feat(behavior_path_palnner): update geometric parallel parking for pull_out module (`#1534 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -1323,9 +1332,9 @@ Changelog for package tier4_planning_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(behavior_path_planner): enable pull_over backward_parking by default (`#1653 `_) -* feat(obstacle_avoidance_planne): enable plan_from_ego by default (`#1673 `_) -* feat: add vector map inside area filter (`#1530 `_) +* feat(behavior_path_planner): enable pull_over backward_parking by default (`#1653 `_) +* feat(obstacle_avoidance_planne): enable plan_from_ego by default (`#1673 `_) +* feat: add vector map inside area filter (`#1530 `_) * feat: add no detection area filter * ci(pre-commit): autofix * chore: add documents @@ -1349,10 +1358,10 @@ Changelog for package tier4_planning_launch * chore: using namespace of PolygonCgal for readability * feat: add functions for multiple polygons Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(mission_planner): prepare to support ad api (`#1561 `_) +* refactor(mission_planner): prepare to support ad api (`#1561 `_) * refactor(mission_planner): prepare to support ad api * fix node name -* feat(surround_obstacle_checker): add vehicle footprint with offset (`#1577 `_) +* feat(surround_obstacle_checker): add vehicle footprint with offset (`#1577 `_) * fix: right and left overhang fix in SelfPolygon func * feat: init base polygon * ci(pre-commit): autofix @@ -1363,32 +1372,32 @@ Changelog for package tier4_planning_launch * feat: add footprint publish boolean param to config * docs: update readme Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): resample output path (`#1604 `_) +* feat(behavior_path_planner): resample output path (`#1604 `_) * feat(behavior_path_planner): resample output path * update param -* fix(behavior_velocity_planner): disable debug path publisher by default (`#1680 `_) -* fix(behavior_path_planner): pull_over shift parking (`#1652 `_) +* fix(behavior_velocity_planner): disable debug path publisher by default (`#1680 `_) +* fix(behavior_path_planner): pull_over shift parking (`#1652 `_) * fix(behavior_path_planner): pull_over shift parking * check lane_depature for each shift path * change pull_over_velocity to 3.0 -* feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle (`#1646 `_) +* feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle (`#1646 `_) * feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle * add parameter to config * update readme -* feat(behavior_velocity): publish internal debug path (`#1635 `_) +* feat(behavior_velocity): publish internal debug path (`#1635 `_) * feat(behavior_velocity): publish internal path as debug path * feat(behavior_velocity): add debug internal scene module path * feat(behavior_velcoity, planning_debug_tools): add params for debug path -* feat(run_out): add lateral nearest points filter (`#1527 `_) +* feat(run_out): add lateral nearest points filter (`#1527 `_) * feat(run_out): add lateral nearest points filter * chore: update documents * chore: pre-commit fix * chore: fix typo -* fix(tier4_planning_launch): change parameter to enable abort lane change (`#1602 `_) -* feat(tier4_planning_launch): add nearest search param (`#1582 `_) +* fix(tier4_planning_launch): change parameter to enable abort lane change (`#1602 `_) +* feat(tier4_planning_launch): add nearest search param (`#1582 `_) * feat(tier4_planning_launch): add nearest search param * fix -* feat(obstacle_cruise_planner): delete shape from target obstacle (`#1558 `_) +* feat(obstacle_cruise_planner): delete shape from target obstacle (`#1558 `_) * delete is on ego traj * update * feat(obstacle_cruise_planner): delete shape @@ -1400,24 +1409,24 @@ Changelog for package tier4_planning_launch * fix terminal point * update * update parameters -* fix(behavior_velocity_planner, tier4_planning_launch): modify delay_resopnse_time (`#1557 `_) +* fix(behavior_velocity_planner, tier4_planning_launch): modify delay_resopnse_time (`#1557 `_) * fix(behavior_velocity_planner): modify delay_resopnse_time * fix(tier4_planning_launch): modify delay_resopnse_time -* fix(costmap_generator): restrict costmap within parking lot (`#996 `_) +* fix(costmap_generator): restrict costmap within parking lot (`#996 `_) * fix(costmap_generator): restrict costmap within parking lot * add parameters for free space planning area selection * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(obstacle_cruise_planner): add missing param (`#1515 `_) -* fix(behavior_path_planner): fix turn singal output in a avoidance sequence (`#1511 `_) +* fix(obstacle_cruise_planner): add missing param (`#1515 `_) +* fix(behavior_path_planner): fix turn singal output in a avoidance sequence (`#1511 `_) * remove search distance for turn signal * set distance to max when a lane_attriute is straight -* refactor(obstacle_avoidance_planner): use max_steer_angle in common (`#1423 `_) +* refactor(obstacle_avoidance_planner): use max_steer_angle in common (`#1423 `_) * refactor(obstacle_avoidance_planner): use max_steer_angle in common * fix runtime error * fix * fix yaml file -* feat(behavior_velocitiy_planner): predict front vehicle deceleration in intersection and temporarily stop (`#1194 `_) +* feat(behavior_velocitiy_planner): predict front vehicle deceleration in intersection and temporarily stop (`#1194 `_) * calculating stopping distance for frontcar from estimated velocity * calc stopping_point_projected and stopping_point along centerline * create stuck_vehicle_detect_area in modifyVelocity(TODO: use pose of frontcar at stopping_position @@ -1432,21 +1441,21 @@ Changelog for package tier4_planning_launch * fixed the order of isAheadOf, working in scenario test as well * added description in stuck vehicle detection section * reflected comments: (1) use vector of ids (2) changed intersection.param.yaml -* feat(tier4_planning_launch): declare param path argument (`#1337 `_) +* feat(tier4_planning_launch): declare param path argument (`#1337 `_) * feat(tier4_planning_launch): declare param path argument * Update launch/tier4_planning_launch/launch/planning.launch.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update launch/tier4_planning_launch/launch/planning.launch.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* fix(behavior_path_planner): remove unnecessary publisher and subscriber (`#1371 `_) +* fix(behavior_path_planner): remove unnecessary publisher and subscriber (`#1371 `_) * fix(behavior_path_planner): remove unnecessary publisher and subscriber * fix(tier4_planning_launch): fix launch file * fix(tier4_planning_launch): fix xml file -* fix: fix parameter names of motion_velocity_smoother (`#1376 `_) +* fix: fix parameter names of motion_velocity_smoother (`#1376 `_) * fix: fix parameter names of motion_velocity_smoother * fix indent -* feat(intersection_module): add option to change the stopline position (`#1364 `_) +* feat(intersection_module): add option to change the stopline position (`#1364 `_) * use constexpr * add stopline before intersection * feat(intersection_module): add update stopline index before intersection @@ -1457,19 +1466,19 @@ Changelog for package tier4_planning_launch * reduce nest * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning_launch): add group tag (`#1239 `_) +* fix(tier4_planning_launch): add group tag (`#1239 `_) * fix(tier4_planning_launch): add group tag * move arg * move arg inside group -* fix(behavior_velocity_planner): fix rtc behavior in crosswalk module (`#1296 `_) -* feat(behavior_path_planner): update pull_over module (`#873 `_) +* fix(behavior_velocity_planner): fix rtc behavior in crosswalk module (`#1296 `_) +* feat(behavior_path_planner): update pull_over module (`#873 `_) * feat(behavior_path_planner): update pull_over module * use tf2_geometry_msgs/tf2_geometry_msgs.hpp for humble * fix werror of humble * fix test * fix goal change bug when starting drive -* feat(tier4_planning_launch): update crosswalk param (`#1265 `_) -* feat(behavior_velocity): filter points with detection area (`#1073 `_) +* feat(tier4_planning_launch): update crosswalk param (`#1265 `_) +* feat(behavior_velocity): filter points with detection area (`#1073 `_) * feat(behavior_velocity): filter points with detection area * remove unnecessary functions * update documents @@ -1479,10 +1488,10 @@ Changelog for package tier4_planning_launch * update configs * return empty points when the detection area polygon is empty Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length (`#1223 `_) +* chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length (`#1223 `_) * chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length * fix typo -* feat(obstacle_cruise_planner): implemented common obstacle stop (`#1185 `_) +* feat(obstacle_cruise_planner): implemented common obstacle stop (`#1185 `_) * feat(obstacle_cruise_planner): implemented common obstacle stop * fix some implementation * minor changes @@ -1490,11 +1499,11 @@ Changelog for package tier4_planning_launch * remove unnecessary code * fix CI error * fix typo -* refactor(freespace_planner): parameterize margin. (`#1190 `_) -* fix(intersection_module): remove decel parameter (`#1188 `_) +* refactor(freespace_planner): parameterize margin. (`#1190 `_) +* fix(intersection_module): remove decel parameter (`#1188 `_) * fix(intersection_module): remove decel parameter * remove unuse parameter -* feat(obstacle_cruise_planner): some minor updates (`#1136 `_) +* feat(obstacle_cruise_planner): some minor updates (`#1136 `_) * checkout latest obstacle cruise changes * fix cruise/stop chattering * add lpf for cruise wall @@ -1505,7 +1514,7 @@ Changelog for package tier4_planning_launch * update tier4_planning_launch param * fix typo * fix CI error -* feat(obstacle_cruise_planner): clean parameters for optimization based cruise planner (`#1059 `_) +* feat(obstacle_cruise_planner): clean parameters for optimization based cruise planner (`#1059 `_) * remove unnecessary parameter * add new parameter and delete unnecessary constructor * remove unnecessary parameter @@ -1515,7 +1524,7 @@ Changelog for package tier4_planning_launch * delete yaw threshold parameter and update license * update * remove unnecessary checker -* feat(intersection): add conflicting area with margin debug (`#1021 `_) +* feat(intersection): add conflicting area with margin debug (`#1021 `_) * add detection area margin debug * extention lanelet in intersection function * feat: add conflicting area with margin @@ -1531,11 +1540,11 @@ Changelog for package tier4_planning_launch * refactor: lanelet::utils::resamplePoints -> resamplePoints * feat: add right and left margin parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_planning_launch): launch rtc_auto_approver (`#1046 `_) +* feat(tier4_planning_launch): launch rtc_auto_approver (`#1046 `_) * feature(tier4_planning_launch): launch rtc_auto_approver * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(obstacle_cruise_planner): add new package (`#570 `_) +* feat(obstacle_cruise_planner): add new package (`#570 `_) * feat(obstacle_velocity_planner): add obstacle_velocity_planner * udpate yaml * update dependency @@ -1555,23 +1564,23 @@ Changelog for package tier4_planning_launch * rename to obstacle_cruise_planner * fix tier4_planning_launch * fix humble CI -* feat(behavior_velocity): add run out module (`#752 `_) - * fix(behavior_velocity): calculate detection area from the nearest point from ego (`#730 `_) +* feat(behavior_velocity): add run out module (`#752 `_) + * fix(behavior_velocity): calculate detection area from the nearest point from ego (`#730 `_) * fix(behavior_velocity): calculate lateral distance from the beginning of the path * add argument of min_velocity * use veloicty from the nearest point from ego * pass struct by reference * fix to interpolate point in util - * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) + * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) * fix(longitudinal_controller_node): parameterize stopped state entry condition * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE * fix(vehicle_cmd_gate): check time duration since the vehicle stopped - * docs(autoware_testing): fix link (`#741 `_) + * docs(autoware_testing): fix link (`#741 `_) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * fix: trajectory visualizer (`#745 `_) - * fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) + * fix: trajectory visualizer (`#745 `_) + * fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) * fix(tier4_autoware_utils): modify build error in rolling * fix(lanelet2_extension): add target compile definition for geometry2 * fix(ekf_localizer): add target compile definition for geometry2 @@ -1609,7 +1618,7 @@ Changelog for package tier4_planning_launch * fix(planning_error_monitor): add target compile definition for geometry2 * fix(planning_evaluator): add target compile definition for geometry2 * fix(lidar_centerpoint): add target compile definition for geometry2 - * fix(behavior_velocity): handle the case when finding index failed (`#746 `_) + * fix(behavior_velocity): handle the case when finding index failed (`#746 `_) * feat: add scene module of dynamic obstacle stop * fix warnings * add temporary debug value @@ -1716,14 +1725,14 @@ Changelog for package tier4_planning_launch Co-authored-by: Yukihiro Saito Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara -* feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) +* 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> -* feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) +* 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 @@ -1733,8 +1742,8 @@ Changelog for package tier4_planning_launch * update config * remove unnecessary files * update tier4_planning_launch params -* feat(behavior_velocity): find occlusion more efficiently (`#829 `_) -* feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) +* feat(behavior_velocity): find occlusion more efficiently (`#829 `_) +* feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -1744,26 +1753,26 @@ Changelog for package tier4_planning_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* feat(obstacle_avoidance_planner): parameterize bounds search widths (`#807 `_) +* style: fix format of package.xml (`#844 `_) +* feat(obstacle_avoidance_planner): parameterize bounds search widths (`#807 `_) * feat(obstacle_avoidance_planner): parameterize bounds search widths * update bounds search widths * update tier4_planning_launch * Added parameter description of README.md -* chore(behavior_velocity): add system delay parameter and minor update (`#764 `_) +* chore(behavior_velocity): add system delay parameter and minor update (`#764 `_) * chore(behavior_velocity): add system delay parameter and minor update * doc(behavior_velocity): add system delay discription -* fix(motion_velocity_smoother): add stop decel parameter (`#739 `_) +* fix(motion_velocity_smoother): add stop decel parameter (`#739 `_) * add stop decel parameter * add stop decel parameter -* feat(behavior_velocity): occlusion spot generate not detection area occupancy grid (`#620 `_) +* feat(behavior_velocity): occlusion spot generate not detection area occupancy grid (`#620 `_) * feat(behavior_velocity): filter dynamic object by default * feat(behavior_velocity): raycast object shadow * chore(behavior_velocity): replace target vehicle to filtered vehicle in detection area @@ -1773,22 +1782,22 @@ Changelog for package tier4_planning_launch * fix(behavior_velocity): fix launch and stuck vehicle * chore(behavior_velocity): use experiment value * chore(behavior_velocity): add comment -* fix(tier4_planning_launch): fix tier4_planning_launch package (`#660 `_) -* feat(behavior_path_planner): stop lane_driving planners in non-lane-driving scenario (`#668 `_) +* fix(tier4_planning_launch): fix tier4_planning_launch package (`#660 `_) +* feat(behavior_path_planner): stop lane_driving planners in non-lane-driving scenario (`#668 `_) * stop lanedriving in parking scenario * use skip_first * add scenario remap in launch * replace warn to info -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): parametrize avoidance target type (`#574 `_) +* feat(behavior_path_planner): parametrize avoidance target type (`#574 `_) * parametrize avoidance target type * add target type parameter in yaml * mototbike -> motorcycle * apply clang -* feat(obstacle avoidance planner): fix out curve, make calculation cost low, make optimization stable, refactor, etc. (`#233 `_) +* feat(obstacle avoidance planner): fix out curve, make calculation cost low, make optimization stable, refactor, etc. (`#233 `_) * feat (obstacle avoidance planner) fix out curve, make optimization stable, make computation cost low, etc * fix typos * remove unnecessary codes @@ -1801,12 +1810,12 @@ Changelog for package tier4_planning_launch * truncate path to detect path change, and tune path change detection * disable yaw slerp * fix ci error -* fix(behavior_path_planner): parametrize avoidance lateral distance threshold (`#404 `_) +* fix(behavior_path_planner): parametrize avoidance lateral distance threshold (`#404 `_) * parametrize lateral threshold * format readme * apply clang format -* refactor(scenario_planning.launch.xml): add parameter description (`#464 `_) -* feat(behavior_path_planner): make drivable area coordinate fixed to the map coordinate and make its size dynamic (`#360 `_) +* refactor(scenario_planning.launch.xml): add parameter description (`#464 `_) +* feat(behavior_path_planner): make drivable area coordinate fixed to the map coordinate and make its size dynamic (`#360 `_) * make drivable area not to oscillate and its size dynamic * update README for new parameters * remove getLaneletScope from route_handler @@ -1815,7 +1824,7 @@ Changelog for package tier4_planning_launch * rename function and put it in proper namespace * update param for tier4_planning_launch Co-authored-by: Takamasa Horibe -* feat(behavior_path_planner): better avoidance drivable areas extension in behavior path planning (`#287 `_) +* feat(behavior_path_planner): better avoidance drivable areas extension in behavior path planning (`#287 `_) * feat: Increases the flexibility of the function in dealing with several scenarios The implementation updates generateExtendedDrivableArea this is a part of .iv PR (`tier4/autoware.iv#2383 `_) port @@ -1842,8 +1851,8 @@ Changelog for package tier4_planning_launch The decision to increase is based on discussion with the planning control team and also from input by FI team. Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* fix: use autoware_auto_msgs (`#197 `_) -* feat: change launch package name (`#186 `_) +* fix: use autoware_auto_msgs (`#197 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 3579884064d5d..1cc1411f8a12e 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -7,6 +7,7 @@ + @@ -170,46 +171,8 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - @@ -254,10 +217,68 @@ - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index 5db47b2668c53..f6e9013b86746 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -2,7 +2,7 @@ tier4_planning_launch - 0.42.0 + 0.43.0 The tier4_planning_launch package diff --git a/launch/tier4_sensing_launch/CHANGELOG.rst b/launch/tier4_sensing_launch/CHANGELOG.rst index 25e7b56b55c2a..838c6dce3710b 100644 --- a/launch/tier4_sensing_launch/CHANGELOG.rst +++ b/launch/tier4_sensing_launch/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package tier4_sensing_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -18,21 +24,21 @@ Changelog for package tier4_sensing_launch 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -42,9 +48,9 @@ Changelog for package tier4_sensing_launch 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -55,7 +61,7 @@ Changelog for package tier4_sensing_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -94,7 +100,7 @@ Changelog for package tier4_sensing_launch 0.26.0 (2024-04-03) ------------------- -* feat: remove use_pointcloud_container (`#6115 `_) +* feat: remove use_pointcloud_container (`#6115 `_) * feat!: remove use_pointcloud_container * fix pre-commit * fix: completely remove use_pointcloud_container after merge main @@ -102,7 +108,7 @@ Changelog for package tier4_sensing_launch * revert: revert change in probabilistic_occupancy_grid_map * revert change in launcher of ogm --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -110,7 +116,7 @@ Changelog for package tier4_sensing_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) +* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) * sync launch file from tier4 autoware launch * sync tlr launcher * ci(pre-commit): autofix @@ -120,29 +126,29 @@ Changelog for package tier4_sensing_launch * fix exec_depend in package.xml * Sync traffic light node Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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 bad chars (`#845 `_) -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: delete common_sensor_launch from exec_depend (`#626 `_) -* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) +* fix: delete common_sensor_launch from exec_depend (`#626 `_) +* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) * feat(tier4_autoware_launch)!: move package to autoware_launch * remove unnecessary depends -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml index ac38db9e8088e..9a82b0d499862 100644 --- a/launch/tier4_sensing_launch/package.xml +++ b/launch/tier4_sensing_launch/package.xml @@ -2,7 +2,7 @@ tier4_sensing_launch - 0.42.0 + 0.43.0 The tier4_sensing_launch package Yukihiro Saito Apache License 2.0 diff --git a/launch/tier4_simulator_launch/CHANGELOG.rst b/launch/tier4_simulator_launch/CHANGELOG.rst index 90f75ac1a732f..52b594adf71f2 100644 --- a/launch/tier4_simulator_launch/CHANGELOG.rst +++ b/launch/tier4_simulator_launch/CHANGELOG.rst @@ -2,15 +2,52 @@ Changelog for package tier4_simulator_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* chore(perception): refactor perception launch (`#10186 `_) + * fundamental change + * style(pre-commit): autofix + * fix typo + * fix params and modify some packages + * pre-commit + * fix + * fix spell check + * fix typo + * integrate model and label path + * style(pre-commit): autofix + * for pre-commit + * run pre-commit + * for awsim + * for simulatior + * style(pre-commit): autofix + * fix grammer in launcher + * add schema for yolox_tlr + * style(pre-commit): autofix + * fix file name + * fix + * rename + * modify arg name to + * fix typo + * change param name + * style(pre-commit): autofix + * chore + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(tier4_simulator_launch): add missing exec_depend (`#10131 `_) +* fix(tier4_simulator_launch): add missing exec_depend (`#10131 `_) * Contributors: Fumiya Watanabe, Takagi, Isamu 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,9 +56,9 @@ Changelog for package tier4_simulator_launch 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `dummy_perception_publisher` (`#9987 `_) -* fix(tier4_simulator_launch): fix a wrong package name: `fault_injection` => `autoware_fault_injection` (`#10014 `_) -* feat: apply `autoware\_` prefix for `scenario_simulator_v2_adapter` (`#9957 `_) +* feat: apply `autoware\_` prefix for `dummy_perception_publisher` (`#9987 `_) +* fix(tier4_simulator_launch): fix a wrong package name: `fault_injection` => `autoware_fault_injection` (`#10014 `_) +* feat: apply `autoware\_` prefix for `scenario_simulator_v2_adapter` (`#9957 `_) * feat(autoware_scenario_simulator_v2_adapter): apply `autoware\_` prefix (see below): * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits. @@ -36,7 +73,7 @@ Changelog for package tier4_simulator_launch * bug(autoware_scenario_simulator_v2_adapter): `autoware\_` prefix is not needed here * bug(autoware_scenario_simulator_v2_adapter): wrong package name in launch side --------- -* feat: apply `autoware\_` prefix for `simple_planning_simulator` (`#9995 `_) +* feat: apply `autoware\_` prefix for `simple_planning_simulator` (`#9995 `_) * feat(simple_planning_simulator): apply `autoware\_` prefix (see below): Note: * In this commit, I did not organize a folder structure. @@ -59,9 +96,9 @@ Changelog for package tier4_simulator_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Sakoda -* feat: apply `autoware\_` prefix for `vehicle_door_simulator` (`#9997 `_) +* feat: apply `autoware\_` prefix for `vehicle_door_simulator` (`#9997 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: apply `autoware\_` prefix for `fault_injection` (`#9989 `_) +* feat: apply `autoware\_` prefix for `fault_injection` (`#9989 `_) * feat(fault_injection): apply `autoware\_` prefix (see below): Note: * In this commit, I did not organize a folder structure. @@ -76,11 +113,11 @@ Changelog for package tier4_simulator_launch * Fixed exec_depend --------- Co-authored-by: SakodaShintaro -* fix(launch): fix missing changes for launch (`#10007 `_) +* fix(launch): fix missing changes for launch (`#10007 `_) bug(launch): fix missing changes for following PRs: - * https://github.com/autowarefoundation/autoware.universe/pull/9956 - * https://github.com/autowarefoundation/autoware.universe/pull/9970 -* fix(tier4_simulator_launch): add use_validator argument to simulator launch (`#9634 `_) + * https://github.com/autowarefoundation/autoware_universe/pull/9956 + * https://github.com/autowarefoundation/autoware_universe/pull/9970 +* fix(tier4_simulator_launch): add use_validator argument to simulator launch (`#9634 `_) * feat: add use_validator argument to simulator launch * feat: set variables explicitly --------- @@ -89,17 +126,17 @@ Changelog for package tier4_simulator_launch 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* refactor(vehicle_velocity_converter)!: prefix package and namespace with autoware (`#8967 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* refactor(vehicle_velocity_converter)!: prefix package and namespace with autoware (`#8967 `_) * add autoware prefix * fix conflict --------- @@ -107,9 +144,9 @@ Changelog for package tier4_simulator_launch * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -132,7 +169,7 @@ Changelog for package tier4_simulator_launch * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -143,9 +180,9 @@ Changelog for package tier4_simulator_launch 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -168,7 +205,7 @@ Changelog for package tier4_simulator_launch * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -179,29 +216,29 @@ Changelog for package tier4_simulator_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(simple_planning_simulator): add stop_filter_param_path (`#9127 `_) -* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) +* chore(simple_planning_simulator): add stop_filter_param_path (`#9127 `_) +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) * add autoware\_ prefix * fix link --------- Co-authored-by: SakodaShintaro -* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) -* feat(psim)!: change a setting parameter type from bool to string (`#8331 `_) +* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) +* feat(psim)!: change a setting parameter type from bool to string (`#8331 `_) * change a param type, bool to string * add param description, add null tag group for the null option --------- -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) * refactor: add namespace, remove unused dependencies, file structure chore: remove unused dependencies style(pre-commit): autofix * refactor: rename elevation_map_loader to autoware_elevation_map_loader Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. style(pre-commit): autofix -* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) +* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) * feat(simple_planning_simulator): add actuation command simulator tmp add @@ -217,7 +254,7 @@ Changelog for package tier4_simulator_launch * fix typo --------- Co-authored-by: Takamasa Horibe -* feat(processing_time_checker): add a new package (`#7957 `_) +* feat(processing_time_checker): add a new package (`#7957 `_) * feat(processing_time_checker): add a new package * fix * fix @@ -226,22 +263,22 @@ Changelog for package tier4_simulator_launch * fix * fix --------- -* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) +* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) * feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger * feat: add use_multi_channel_tracker_merger argument to simulator launch This commit adds the `use_multi_channel_tracker_merger` argument to the simulator launch file. The argument is set to `false` by default. This change enables the use of the multi-channel tracker merger in the simulator. --------- -* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) -* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) +* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) +* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) * Contributors: Kosuke Takeuchi, Masaki Baba, Taekjin LEE, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* fix(pose_initializer): added "user_defined_initial_pose" to dummy localization (`#6723 `_) +* fix(pose_initializer): added "user_defined_initial_pose" to dummy localization (`#6723 `_) Added "used_defined_initial_pose" to dummy localization -* feat(default_ad_api): add door api (`#5737 `_) -* feat(tier4_simulator_launch): add option to disable all perception related modules (`#6382 `_) -* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) +* feat(default_ad_api): add door api (`#5737 `_) +* feat(tier4_simulator_launch): add option to disable all perception related modules (`#6382 `_) +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) * feat(perception_evaluator): add perception_evaluator tmp update @@ -259,9 +296,9 @@ Changelog for package tier4_simulator_launch * feat: add test * fix: ci check --------- -* fix(tier4_simulator_launch): add lacked param path (`#5326 `_) -* chore(tier4_simulator_launch): launch camera and V2X fusion module in simple planning simulator (`#4522 `_) -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* fix(tier4_simulator_launch): add lacked param path (`#5326 `_) +* chore(tier4_simulator_launch): launch camera and V2X fusion module in simple planning simulator (`#4522 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -286,8 +323,8 @@ Changelog for package tier4_simulator_launch * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(occpuancy grid map): move param to yaml (`#4038 `_) -* build: mark autoware_cmake as (`#3616 `_) +* refactor(occpuancy grid map): move param to yaml (`#4038 `_) +* 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 @@ -295,34 +332,34 @@ Changelog for package tier4_simulator_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) -* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) +* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) +* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) * add occcupancy_grid_map method/param var to launcher * added CODEOWNER * Revert "added CODEOWNER" This reverts commit 2213c2956af19580d0a7788680aab321675aab3b. * add maintainer --------- -* fix(tier4_simulator_launch): fix launch package name (`#3340 `_) -* feat(tier4_simulator_launch): convert /diagnostics_err (`#3152 `_) -* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) +* fix(tier4_simulator_launch): fix launch package name (`#3340 `_) +* feat(tier4_simulator_launch): convert /diagnostics_err (`#3152 `_) +* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) * fixed psim occupancy grid map problem * fix parameter designation --------- Co-authored-by: Takayuki Murooka -* chore(tier4_simulator_launch): add code owner (`#3080 `_) +* chore(tier4_simulator_launch): add code owner (`#3080 `_) chore(tier4_simulator_launch): add code owners -* fix(tier4_perception_launch): fix config path (`#3078 `_) +* fix(tier4_perception_launch): fix config path (`#3078 `_) * fix(tier4_perception_launch): fix config path * use pointcloud_based_occupancy_grid_map.launch.py in tier4_simulator_launch --------- -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) +* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) * add original diagnostic_convertor * add test * fix typo @@ -372,7 +409,7 @@ Changelog for package tier4_simulator_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) +* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) * Support GNSS/IMU pose estimator * style(pre-commit): autofix * Revert gnss/imu support @@ -400,18 +437,18 @@ Changelog for package tier4_simulator_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohei Sasaki Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_simulator_launch): remove configs and move to autoware_launch (`#2541 `_) +* feat(tier4_simulator_launch): remove configs and move to autoware_launch (`#2541 `_) * feat(tier4_perception_launch): remove configs and move to autoware_launch * update readme * first commit * remove config -* fix(tier4_simulator_launch): fix path (`#2281 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* fix(tier4_simulator_launch): fix path (`#2281 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pose_initializer)!: support ad api (`#1500 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -427,23 +464,23 @@ Changelog for package tier4_simulator_launch * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch (`#1820 `_) +* feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch (`#1820 `_) * feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch * ci(pre-commit): autofix 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> -* feat(tier4_simulator_launch): declare param path argument (`#1443 `_) +* feat(tier4_simulator_launch): declare param path argument (`#1443 `_) feat(tier4_simulator_launch): declare param path -* feat!: replace ogm at scenario simulation (`#1062 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat!: replace ogm at scenario simulation (`#1062 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) +* style: fix format of package.xml (`#844 `_) +* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) * initial commit * ci(pre-commit): autofix * change param @@ -459,19 +496,19 @@ Changelog for package tier4_simulator_launch * add single frame mode * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: move empty_objects_publisher (`#613 `_) +* feat: move empty_objects_publisher (`#613 `_) * feat: move empty_objects_publisher * fix group of empty_object_publisher -* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) +* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) * feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simualtor.launch.xml * remove perception launching dummy_perception_publisher.launch.xml * remove unnecessary comment -* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) -* feat: change launch package name (`#186 `_) +* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 1ff16f2f4fe81..b6dffa129517c 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -134,7 +134,58 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml index 3a3f16f35441b..39c76869edbba 100644 --- a/launch/tier4_simulator_launch/package.xml +++ b/launch/tier4_simulator_launch/package.xml @@ -2,7 +2,7 @@ tier4_simulator_launch - 0.42.0 + 0.43.0 The tier4_simulator_launch package Keisuke Shima Takayuki Murooka diff --git a/launch/tier4_system_launch/CHANGELOG.rst b/launch/tier4_system_launch/CHANGELOG.rst index e17a3c0853f2d..a7d74e0afa0ff 100644 --- a/launch/tier4_system_launch/CHANGELOG.rst +++ b/launch/tier4_system_launch/CHANGELOG.rst @@ -2,12 +2,19 @@ Changelog for package tier4_system_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(tier4_system_launch): add missing exec_depend (`#10132 `_) +* Contributors: Hayato Mizushima, Takagi, Isamu, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,14 +23,14 @@ Changelog for package tier4_system_launch 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) -* feat: apply `autoware\_` prefix for `hazard_status_converter` (`#9971 `_) -* feat: apply `autoware\_` prefix for `system_monitor` (`#10017 `_) +* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) +* feat: apply `autoware\_` prefix for `hazard_status_converter` (`#9971 `_) +* feat: apply `autoware\_` prefix for `system_monitor` (`#10017 `_) * feat(system_monitor): apply `autoware\_` prefix (see below): - * The `system_monitor` operates independently from other modules in `autoware.universe`, so the `autoware\_` prefix is added only to the package name. + * The `system_monitor` operates independently from other modules in `autoware_universe`, so the `autoware\_` prefix is added only to the package name. * The `autoware::` namespace is not used because C language does not support namespaces. * Headers are not moved under `include/autoware` to maintain compatibility for use outside the `autoware` context. - * For users utilizing this package within `autoware.universe`, only the package name includes the `autoware\_` prefix. + * For users utilizing this package within `autoware_universe`, only the package name includes the `autoware\_` prefix. This approach explains the unique namespacing and naming conventions for `system_monitor` compared to other packages. * bug(system_monitor): fix missing package name update * rename: `system_monitor` => `autoware_system_monitor` @@ -33,7 +40,7 @@ Changelog for package tier4_system_launch * update: `CODEOWNERS` --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: apply `autoware\_` prefix for `mrm_comfortable_stop_operator` (`#10011 `_) +* feat: apply `autoware\_` prefix for `mrm_comfortable_stop_operator` (`#10011 `_) * feat(mrm_comfortable_stop_operator): apply `autoware\_` prefix (see below): Note: * In this commit, I did not organize a folder structure. @@ -47,7 +54,7 @@ Changelog for package tier4_system_launch * rename: `mrm_comfortable_stop_operator` => `autoware_mrm_comfortable_stop_operator` * update: `CODEOWNERS` --------- -* feat: apply `autoware\_` prefix for `mrm_emergency_stop_operator` (`#9973 `_) +* feat: apply `autoware\_` prefix for `mrm_emergency_stop_operator` (`#9973 `_) * feat(mrm_emergency_stop_operator): apply `autoware\_` prefix (see below): Note: * In this commit, I did not organize a folder structure. @@ -63,7 +70,7 @@ Changelog for package tier4_system_launch * bug(tier4_system_launch): fix a missing `autoware\_` for `mrm_emergency_stop_operator` * bug(autoware_mrm_emergency_stop_operator): fix critical bugs that contaminate topic names --------- -* feat: apply `autoware\_` prefix for `mrm_handler` (`#9974 `_) +* feat: apply `autoware\_` prefix for `mrm_handler` (`#9974 `_) * feat(mrm_handler): apply `autoware\_` prefix (see below): Note: * In this commit, I did not organize a folder structure. @@ -80,31 +87,31 @@ Changelog for package tier4_system_launch * update(mrm_handler): `README.md` * bug(autoware_mrm_handler): fix a critical bug that contaminates topic name --------- -* fix(launch): fix missing changes for launch (`#10007 `_) +* fix(launch): fix missing changes for launch (`#10007 `_) bug(launch): fix missing changes for following PRs: - * https://github.com/autowarefoundation/autoware.universe/pull/9956 - * https://github.com/autowarefoundation/autoware.universe/pull/9970 -* fix(tier4_system_launch): add autoware prefix to dummy diag publisher launcher (`#9959 `_) + * https://github.com/autowarefoundation/autoware_universe/pull/9956 + * https://github.com/autowarefoundation/autoware_universe/pull/9970 +* fix(tier4_system_launch): add autoware prefix to dummy diag publisher launcher (`#9959 `_) fix: add autoare\_ to dummy_diag_publisher * Contributors: Fumiya Watanabe, Junya Sasaki, TetsuKawa 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -114,9 +121,9 @@ Changelog for package tier4_system_launch 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -127,15 +134,15 @@ Changelog for package tier4_system_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(system): fixed to use autoware_component_interface_tools (`#9133 `_) +* fix(system): fixed to use autoware_component_interface_tools (`#9133 `_) Fixed component_interface_tools -* feat(system_error_monitor): remove system error monitor (`#8929 `_) +* feat(system_error_monitor): remove system error monitor (`#8929 `_) * feat: delete-system-error-monitor-from-autoware * feat: remove unnecessary params --------- -* feat(emergency_handler): delete package (`#8917 `_) +* feat(emergency_handler): delete package (`#8917 `_) * feat(emergency_handler): delete package -* feat(processing_time_checker): add a new package (`#7957 `_) +* feat(processing_time_checker): add a new package (`#7957 `_) * feat(processing_time_checker): add a new package * fix * fix @@ -144,19 +151,19 @@ Changelog for package tier4_system_launch * fix * fix --------- -* feat(tier4_system_launch): use mrm handler by default (`#7728 `_) -* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) -* feat(default_ad_api): use diagnostic graph (`#7043 `_) +* feat(tier4_system_launch): use mrm handler by default (`#7728 `_) +* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) +* feat(default_ad_api): use diagnostic graph (`#7043 `_) * Contributors: Ryuta Kambe, SakodaShintaro, Takagi, Isamu, Takayuki Murooka, TetsuKawa, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore(tier4_system_launch): add option to select graph path depending on running mode (`#6700 `_) +* chore(tier4_system_launch): add option to select graph path depending on running mode (`#6700 `_) chore(tier4_system_launch): add option of using graph path for simulation -* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) -* chore: update maintainer (`#5730 `_) +* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) +* chore: update maintainer (`#5730 `_) update maintainer -* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) +* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) * add implementation for duplicated node checking * update the default parameters of system_error_monitor to include results from duplication check * style(pre-commit): autofix @@ -173,9 +180,9 @@ Changelog for package tier4_system_launch Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -183,13 +190,13 @@ Changelog for package tier4_system_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) +* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) * Signed-off-by: asana17 modified dummy_diag_publisher to use YAML for param * Signed-off-by: asana17 @@ -200,7 +207,7 @@ Changelog for package tier4_system_launch * add pkg maintainer * launch dummy_diag_publisher by launch_dummy_diag_publisher param --------- -* feat(tier4_system_launch): remove configs and move to autoware_launch (`#2540 `_) +* feat(tier4_system_launch): remove configs and move to autoware_launch (`#2540 `_) * feat(tier4_system_launch): remove configs and move to autoware_launch * update readme * fix readme @@ -209,18 +216,18 @@ Changelog for package tier4_system_launch * fix readme * fix mistake * fix typo -* feat(component_interface_tools): add service log checker (`#2503 `_) +* 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 -* feat: replace python launch with xml launch for system monitor (`#2430 `_) +* 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> -* chore(system_monitor): add maintainer (`#2420 `_) -* feat!: replace HADMap with Lanelet (`#2356 `_) +* chore(system_monitor): add maintainer (`#2420 `_) +* feat!: replace HADMap with Lanelet (`#2356 `_) * feat!: replace HADMap with Lanelet * update topic.yaml * Update perception/traffic_light_map_based_detector/README.md @@ -233,13 +240,13 @@ Changelog for package tier4_system_launch Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * format readme Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators * ci(pre-commit): autofix * fix(mrm_emergency_stop_operator): remove os import * fix(mrm_emergency_stop_operator): remove unused packages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ad_service_state_monitor)!: remove ad_service_state_monitor (`#2311 `_) +* feat(ad_service_state_monitor)!: remove ad_service_state_monitor (`#2311 `_) * feat(autoware_ad_api_msgs): define operation mode interface * feat(default_ad_api): add operation mode api * fix: add message @@ -280,8 +287,8 @@ Changelog for package tier4_system_launch * feat: remove sensing alive monitoring Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): add parameter to launch system_monitor and fix hdd_monitor (`#2285 `_) -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* fix(system_monitor): add parameter to launch system_monitor and fix hdd_monitor (`#2285 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers @@ -343,18 +350,18 @@ Changelog for package tier4_system_launch * fix(emergency_handler): fix acronyms case * chore(tier4_system_launch): add a mrm comfortable stop parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_system_launch): remove unused system file (`#2263 `_) +* chore(tier4_system_launch): remove unused system file (`#2263 `_) * chore(tier4_system_launch): remove unused system file * remove unnecessary code -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(component_state_monitor): add component state monitor (`#2120 `_) +* feat(component_state_monitor): add component state monitor (`#2120 `_) * feat(component_state_monitor): add component state monitor * feat: change module -* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) +* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) * adding document for voltage monitor * ci(pre-commit): autofix * fixed for the issue of multithread @@ -374,36 +381,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -414,7 +421,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -424,50 +431,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * 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> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * 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(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -488,36 +495,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -528,7 +535,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -538,50 +545,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * 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> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * 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(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -591,11 +598,11 @@ Changelog for package tier4_system_launch * merge main ->feature_battery_monitoring * Added voltages are provisional values. * ci(pre-commit): autofix - * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) + * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) * feat(behavior_path_planner): add and change parameters * update * update - * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) + * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) * refactor(perception_util): refactor matching function in perception_util * fix namespace * refactor @@ -603,7 +610,7 @@ Changelog for package tier4_system_launch * fix bug * add const * refactor function name - * refactor(perception_utils): refactor object_classification (`#2042 `_) + * refactor(perception_utils): refactor object_classification (`#2042 `_) * refactor(perception_utils): refactor object_classification * fix bug * fix unittest @@ -611,14 +618,14 @@ Changelog for package tier4_system_launch * fix unit test * remove redundant else * refactor variable name - * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) - * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) - * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) + * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) + * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) + * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) * refactor(osqp_interface, motion_velocity_smoother): unsolved status log * Update common/osqp_interface/src/osqp_interface.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) + * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) Co-authored-by: Yusuke Muramatsu * change name hardware_monitor -> voltage_monitor * copy right 2020 -> 2022 @@ -643,36 +650,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -683,7 +690,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -693,50 +700,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * 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> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * 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(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -754,36 +761,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -794,7 +801,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -804,50 +811,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * 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> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * 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(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -890,7 +897,7 @@ Changelog for package tier4_system_launch Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Yusuke Muramatsu -* feat: add HDD monitoring items to hdd_monitor (`#721 `_) +* feat: add HDD monitoring items to hdd_monitor (`#721 `_) * feat: add HDD monitoring items to hdd_monitor * fix pre-commit C long type error * fixed the monitoring method of RecoveredError @@ -901,8 +908,8 @@ Changelog for package tier4_system_launch * fix(system_monitor): level change when not connected in HDD connection monitoring * fix(system_monitor): unmount function added in hdd_reader * fix(system_monitor): separate S.M.A.R.T. request and lazy unmount request for hdd_reader -* chore(system_error_monitor): add maintainer (`#1922 `_) -* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) +* chore(system_error_monitor): add maintainer (`#1922 `_) +* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) * feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor * fix build errors caused by merge mistakes * fix(system_monitor): chang word Reasm and fix deep nesting @@ -912,7 +919,7 @@ Changelog for package tier4_system_launch * fix(system_monitor): remove unnecessary static_cast * fix(system_monitor): typo fix Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat(pose_initializer)!: support ad api (`#1500 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -928,33 +935,33 @@ Changelog for package tier4_system_launch * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) +* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat: add CRC error monitoring to net_monitor (`#638 `_) +* feat: add CRC error monitoring to net_monitor (`#638 `_) * feat: add CRC error monitoring to net_monitor * add CRC error monitoring information to README.md * ci(pre-commit): autofix Co-authored-by: noriyuki.h Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_system_launch): declare tier4_system_launch_param_path (`#1411 `_) -* fix(tier4_system_launch): add group tag (`#1240 `_) +* feat(tier4_system_launch): declare tier4_system_launch_param_path (`#1411 `_) +* fix(tier4_system_launch): add group tag (`#1240 `_) * fix(tier4_system_launch): add group tag * move arg into group -* fix(system_monitor): add some smart information to diagnostics (`#708 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* fix(system_monitor): add some smart information to diagnostics (`#708 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index f7117c2b23892..62f6f005f125c 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -2,7 +2,7 @@ tier4_system_launch - 0.42.0 + 0.43.0 The tier4_system_launch package Fumihito Ito TetsuKawa @@ -11,7 +11,16 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_tools autoware_component_state_monitor + autoware_dummy_diag_publisher + autoware_duplicated_node_checker + autoware_hazard_status_converter + autoware_mrm_comfortable_stop_operator + autoware_mrm_emergency_stop_operator + autoware_mrm_handler + autoware_processing_time_checker + autoware_system_diagnostic_monitor autoware_system_monitor ament_lint_auto diff --git a/launch/tier4_vehicle_launch/CHANGELOG.rst b/launch/tier4_vehicle_launch/CHANGELOG.rst index c3459e725aa72..d46294febc648 100644 --- a/launch/tier4_vehicle_launch/CHANGELOG.rst +++ b/launch/tier4_vehicle_launch/CHANGELOG.rst @@ -2,12 +2,19 @@ Changelog for package tier4_vehicle_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(tier4_vehicle_launch): add missing exec_depend (`#10133 `_) +* Contributors: Hayato Mizushima, Takagi, Isamu, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -18,21 +25,21 @@ Changelog for package tier4_vehicle_launch 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -42,9 +49,9 @@ Changelog for package tier4_vehicle_launch 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -55,7 +62,7 @@ Changelog for package tier4_vehicle_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) +* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) * add prefix * fix other packages * fix cppcheck @@ -66,8 +73,8 @@ Changelog for package tier4_vehicle_launch 0.26.0 (2024-04-03) ------------------- -* fix(raw_vehicle_cmd_converter): fix parameter files to parse path to csv files (`#6136 `_) -* build: mark autoware_cmake as (`#3616 `_) +* fix(raw_vehicle_cmd_converter): fix parameter files to parse path to csv files (`#6136 `_) +* 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 @@ -75,40 +82,40 @@ Changelog for package tier4_vehicle_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: fix xacro command in vehicle.launch (`#2171 `_) -* feat(tier4_vehicle launch): switch config_dir value for default/individual_param (`#1416 `_) +* fix: fix xacro command in vehicle.launch (`#2171 `_) +* feat(tier4_vehicle launch): switch config_dir value for default/individual_param (`#1416 `_) * feat(tier4_vehicle_launch): migrate from autoware_launch::vehicle_launch to tier4_vehicle_launch * By default config_dir is _description/config/ (like in planning_simulation) in tier4_vehicle_launch, and in product release config_dir will be set to /config//, and its value is set from either planning_simulator.launch orautoware_launch -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* chore: sync files (`#629 `_) +* style: fix format of package.xml (`#844 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) -* fix(tier4_vehicle_launch): refer to launch packages to find vehicle_interface.launch.xml (`#439 `_) -* fix(tier4_vehicle_launch): remove unnecessary config_dir (`#436 `_) +* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) +* fix(tier4_vehicle_launch): refer to launch packages to find vehicle_interface.launch.xml (`#439 `_) +* fix(tier4_vehicle_launch): remove unnecessary config_dir (`#436 `_) * fix(tier4_vehicle_launch): remove unnecessary config_dir * refactor: rename arg * remove vehicle_description.launch.xml to simplify the structure * chore: simplify vehicle.xacro -* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) +* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) * feat(tier4_autoware_launch)!: move package to autoware_launch * remove unnecessary depends -* docs: fix invalid links (`#309 `_) -* feat: change launch package name (`#186 `_) +* docs: fix invalid links (`#309 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml index 1333da1d138b6..a61083b9424ee 100644 --- a/launch/tier4_vehicle_launch/package.xml +++ b/launch/tier4_vehicle_launch/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_launch - 0.42.0 + 0.43.0 The tier4_vehicle_launch package Yukihiro Saito Apache License 2.0 @@ -10,6 +10,7 @@ ament_cmake_auto autoware_cmake + autoware_raw_vehicle_cmd_converter robot_state_publisher xacro diff --git a/localization/autoware_geo_pose_projector/CHANGELOG.rst b/localization/autoware_geo_pose_projector/CHANGELOG.rst index b905f6abb9674..e3e69d8f08978 100644 --- a/localization/autoware_geo_pose_projector/CHANGELOG.rst +++ b/localization/autoware_geo_pose_projector/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_geo_pose_projector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,61 +22,61 @@ Changelog for package autoware_geo_pose_projector 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) -* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) * refactor(geography_utils): prefix package and namespace with autoware * move headers to include/autoware/ --------- -* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) +* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) * add autoware\_ prefix * style(pre-commit): autofix --------- diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml index 65745c631c97e..a481472daa238 100644 --- a/localization/autoware_geo_pose_projector/package.xml +++ b/localization/autoware_geo_pose_projector/package.xml @@ -2,7 +2,7 @@ autoware_geo_pose_projector - 0.42.0 + 0.43.0 The autoware_geo_pose_projector package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_gyro_odometer/CHANGELOG.rst b/localization/autoware_gyro_odometer/CHANGELOG.rst index 107769dc5c7da..b2d011f4a9e6c 100644 --- a/localization/autoware_gyro_odometer/CHANGELOG.rst +++ b/localization/autoware_gyro_odometer/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_gyro_odometer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,8 +25,8 @@ Changelog for package autoware_gyro_odometer 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) -* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) * feat!: move diagnostics_module from localization_util to unverse_utils * remove diagnostics module from localization_util * style(pre-commit): autofix @@ -40,21 +46,21 @@ Changelog for package autoware_gyro_odometer 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -64,9 +70,9 @@ Changelog for package autoware_gyro_odometer 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -77,9 +83,9 @@ Changelog for package autoware_gyro_odometer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) +* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) * add autoware\_ prefix * add missing header * use target_include_directories instead diff --git a/localization/autoware_gyro_odometer/package.xml b/localization/autoware_gyro_odometer/package.xml index 5d3f39b14a017..d578020f4ddc7 100644 --- a/localization/autoware_gyro_odometer/package.xml +++ b/localization/autoware_gyro_odometer/package.xml @@ -2,7 +2,7 @@ autoware_gyro_odometer - 0.42.0 + 0.43.0 The autoware_gyro_odometer package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst index 482e96a75f53d..82375ffeb188f 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_ar_tag_based_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,22 +28,22 @@ Changelog for package autoware_ar_tag_based_localizer 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package autoware_ar_tag_based_localizer 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,27 +66,27 @@ Changelog for package autoware_ar_tag_based_localizer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* fix(doc): landmark localizer (`#8301 `_) +* fix(doc): landmark localizer (`#8301 `_) fix landmark localizer -* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) +* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yamato Ando -* perf(autoware_ar_tag_based_localizer): remove unnecessary pub/sub depth for transient_local (`#8259 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* chore: update sample rosbags for localization modules (`#7716 `_) +* perf(autoware_ar_tag_based_localizer): remove unnecessary pub/sub depth for transient_local (`#8259 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* chore: update sample rosbags for localization modules (`#7716 `_) Update sample rosbags for new message types -* fix: replace deprecated header in Jazzy (`#7603 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) * Added prefix "autoware\_" to ar_tag_based_localizer * style(pre-commit): autofix * Fixed localization_launch diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/README.md b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/README.md index 788f7bbc6b3a8..c40e48768e8f9 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/README.md +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/README.md @@ -73,7 +73,7 @@ The image below shows the trajectory when the sample is executed and plotted. The pull request video below should also be helpful. - + ## Principle diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml index bbafa845df9dc..9958d06332891 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ar_tag_based_localizer - 0.42.0 + 0.43.0 The autoware_ar_tag_based_localizer package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst index 23c392f7281e9..a6c59a9a6ea35 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_landmark_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,22 +28,22 @@ Changelog for package autoware_landmark_manager 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package autoware_landmark_manager 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,16 +66,16 @@ Changelog for package autoware_landmark_manager 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) +* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yamato Ando -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) * Added prefix "autoware\_" to ar_tag_based_localizer * style(pre-commit): autofix * Fixed localization_launch diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml index ddc7f2dc12255..bd80222c48712 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml @@ -2,7 +2,7 @@ autoware_landmark_manager - 0.42.0 + 0.43.0 The autoware_landmark_manager package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst index aa33fb64b930d..363297dc152be 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_lidar_marker_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,13 +25,13 @@ Changelog for package autoware_lidar_marker_localizer 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(autoware_lidar_marker_localization): fix segmentation fault (`#8943 `_) +* fix(autoware_lidar_marker_localization): fix segmentation fault (`#8943 `_) * fix segmentation fault * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) -* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) * feat!: move diagnostics_module from localization_util to unverse_utils * remove diagnostics module from localization_util * style(pre-commit): autofix @@ -46,22 +52,22 @@ Changelog for package autoware_lidar_marker_localizer 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -71,9 +77,9 @@ Changelog for package autoware_lidar_marker_localizer 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -84,10 +90,10 @@ Changelog for package autoware_lidar_marker_localizer 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 `_) -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* feat(localization): add `lidar_marker_localizer` (`#5573 `_) +* feat(localization): add `lidar_marker_localizer` (`#5573 `_) * Added lidar_marker_localizer * style(pre-commit): autofix * fix launch file diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml index 422f14c6c08bf..1ee66aa68bf6f 100755 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml @@ -2,7 +2,7 @@ autoware_lidar_marker_localizer - 0.42.0 + 0.43.0 The autoware_lidar_marker_localizer package Yamato Ando Shintaro Sakoda diff --git a/localization/autoware_localization_error_monitor/CHANGELOG.rst b/localization/autoware_localization_error_monitor/CHANGELOG.rst index 12db5437022e1..56a67cdf13eef 100644 --- a/localization/autoware_localization_error_monitor/CHANGELOG.rst +++ b/localization/autoware_localization_error_monitor/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_localization_error_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,8 +25,8 @@ Changelog for package autoware_localization_error_monitor 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) -* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) * feat!: move diagnostics_module from localization_util to unverse_utils * remove diagnostics module from localization_util * style(pre-commit): autofix @@ -40,21 +46,21 @@ Changelog for package autoware_localization_error_monitor 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -64,9 +70,9 @@ Changelog for package autoware_localization_error_monitor 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -77,15 +83,15 @@ Changelog for package autoware_localization_error_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* fix(localization_error_monitor, system diag): fix to use diagnostics_interface in localization_util (`#8543 `_) +* fix(localization_error_monitor, system diag): fix to use diagnostics_interface in localization_util (`#8543 `_) * fix(localization_error_monitor): fix to use diagnostics_interface in localization_util * fix: update media * fix: update component name * fix: rename include file --------- -* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) +* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) add autoware\_ prefix * Contributors: Masaki Baba, RyuYamamoto, Yutaka Kondo diff --git a/localization/autoware_localization_error_monitor/package.xml b/localization/autoware_localization_error_monitor/package.xml index f0ddcb035c4b7..f3261b4e97f7b 100644 --- a/localization/autoware_localization_error_monitor/package.xml +++ b/localization/autoware_localization_error_monitor/package.xml @@ -2,7 +2,7 @@ autoware_localization_error_monitor - 0.42.0 + 0.43.0 ros node for monitoring localization error Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst index df4f4ff48ef0b..461034183afbd 100644 --- a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst +++ b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst @@ -2,15 +2,23 @@ Changelog for package autoware_ndt_scan_matcher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(ndt_scan_matcher): fix the covariance calculation (`#10252 `_) + Fix the covariance calculation +* Contributors: Anh Nguyen, Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,10 +27,10 @@ Changelog for package autoware_ndt_scan_matcher 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: tier4_debug_msgs changed to autoware-internal_debug_msgs in files localization/autoware_ndt_scan_matcher (`#9861 `_) +* feat: tier4_debug_msgs changed to autoware-internal_debug_msgs in files localization/autoware_ndt_scan_matcher (`#9861 `_) Co-authored-by: SakodaShintaro -* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) -* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) * feat!: move diagnostics_module from localization_util to unverse_utils * remove diagnostics module from localization_util * style(pre-commit): autofix @@ -43,40 +51,40 @@ Changelog for package autoware_ndt_scan_matcher 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_ndt_scan_matcher): remove unsed functions (`#9387 `_) -* perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) - * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_ndt_scan_matcher): remove unsed functions (`#9387 `_) +* perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) fix computation of maximum lane changing length threshold * perf: remove evecs, evals from Leaf * perf: remove evecs, evals from Leaf --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) -* fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) +* fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) +* fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) Reduced initial_pose_estimation.particles_num from 200 to 100 on tests -* refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) +* refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) * Moved ndt_omp into ndt_scan_matcher * Added Copyright * style(pre-commit): autofix @@ -108,25 +116,25 @@ Changelog for package autoware_ndt_scan_matcher 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) - * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) fix computation of maximum lane changing length threshold * perf: remove evecs, evals from Leaf * perf: remove evecs, evals from Leaf --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) -* fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) +* fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) +* fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) Reduced initial_pose_estimation.particles_num from 200 to 100 on tests -* refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) +* refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) * Moved ndt_omp into ndt_scan_matcher * Added Copyright * style(pre-commit): autofix @@ -158,9 +166,9 @@ Changelog for package autoware_ndt_scan_matcher 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix * Contributors: Masaki Baba, Yutaka Kondo diff --git a/localization/autoware_ndt_scan_matcher/README.md b/localization/autoware_ndt_scan_matcher/README.md index ee177608bdefe..feeca1ab795e0 100644 --- a/localization/autoware_ndt_scan_matcher/README.md +++ b/localization/autoware_ndt_scan_matcher/README.md @@ -219,7 +219,7 @@ Note that the dynamic map loading may FAIL if the map is split into two or more - one PCD map file - multiple PCD map files divided into small size (~20[m]) -Here is a split PCD map for `sample-map-rosbag` from Autoware tutorial: [`sample-map-rosbag_split.zip`](https://github.com/autowarefoundation/autoware.universe/files/10349104/sample-map-rosbag_split.zip) +Here is a split PCD map for `sample-map-rosbag` from Autoware tutorial: [`sample-map-rosbag_split.zip`](https://github.com/autowarefoundation/autoware_universe/files/10349104/sample-map-rosbag_split.zip) | PCD files | How NDT loads map(s) | | :------------: | :------------------: | @@ -231,7 +231,7 @@ Here is a split PCD map for `sample-map-rosbag` from Autoware tutorial: [`sample ### Abstract This is a function that uses no ground LiDAR scan to estimate the scan matching score. This score can reflect the current localization performance more accurately. -[related issue](https://github.com/autowarefoundation/autoware.universe/issues/2044). +[related issue](https://github.com/autowarefoundation/autoware_universe/issues/2044). ### Parameters diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml index 99a954c305932..9eb326ab1b581 100644 --- a/localization/autoware_ndt_scan_matcher/package.xml +++ b/localization/autoware_ndt_scan_matcher/package.xml @@ -2,7 +2,7 @@ autoware_ndt_scan_matcher - 0.42.0 + 0.43.0 The autoware_ndt_scan_matcher package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp index 3d7076bbae06d..1416729087966 100644 --- a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp +++ b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp @@ -434,9 +434,7 @@ void pclomp::MultiVoxelGridCovariance::computeLeafParams( Leaf & leaf) const { // Single pass covariance calculation - leaf.cov_ = (leaf.cov_ - 2 * (pt_sum * leaf.mean_.transpose())) / leaf.nr_points_ + - leaf.mean_ * leaf.mean_.transpose(); - leaf.cov_ *= (leaf.nr_points_ - 1.0) / leaf.nr_points_; + leaf.cov_ = (leaf.cov_ - pt_sum * leaf.mean_.transpose()) / (leaf.nr_points_ - 1); // Normalize Eigen Val such that max no more than 100x min. eigensolver.compute(leaf.cov_); diff --git a/localization/autoware_pose2twist/CHANGELOG.rst b/localization/autoware_pose2twist/CHANGELOG.rst index 66ca6a7bd6490..bbcd52061c700 100644 --- a/localization/autoware_pose2twist/CHANGELOG.rst +++ b/localization/autoware_pose2twist/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_pose2twist ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,26 +22,26 @@ Changelog for package autoware_pose2twist 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files localization/autoware_pose2twist (`#9866 `_) +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files localization/autoware_pose2twist (`#9866 `_) * Contributors: Fumiya Watanabe, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -45,9 +51,9 @@ Changelog for package autoware_pose2twist 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -58,7 +64,7 @@ Changelog for package autoware_pose2twist 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) +* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) * add autoware\_ prefix * use target_include_directories instead --------- diff --git a/localization/autoware_pose2twist/package.xml b/localization/autoware_pose2twist/package.xml index 89dbd9ec6a240..9f2305c203962 100644 --- a/localization/autoware_pose2twist/package.xml +++ b/localization/autoware_pose2twist/package.xml @@ -2,7 +2,7 @@ autoware_pose2twist - 0.42.0 + 0.43.0 The autoware_pose2twist package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst index dc81a0e0068af..fca053ee7af2c 100644 --- a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst +++ b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_pose_covariance_modifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_ekf_localizer)!: porting from universe to core 2nd (`#10067 `_) +* feat(autoware_ekf_localizer)!: porting from universe to core 2nd (`#10067 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Contributors: Fumiya Watanabe, Motz 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,9 +25,9 @@ Changelog for package autoware_pose_covariance_modifier 0.41.0 (2025-01-29) ------------------- -* revert: revert "feat(autoware_ekf_localizer)!: porting from universe to core (`#9978 `_)" (`#10004 `_) +* revert: revert "feat(autoware_ekf_localizer)!: porting from universe to core (`#9978 `_)" (`#10004 `_) This reverts commit 037c315fbee69bb5923ec10bb8e8e70f890725ea. -* feat(autoware_ekf_localizer)!: porting from universe to core (`#9978 `_) +* feat(autoware_ekf_localizer)!: porting from universe to core (`#9978 `_) * feat: delete ekf_localizer files * doc: Modify ekf_localizer directory links * ci: remove ekf_localizer from the codecov target list @@ -31,22 +37,22 @@ Changelog for package autoware_pose_covariance_modifier 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -56,9 +62,9 @@ Changelog for package autoware_pose_covariance_modifier 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -69,22 +75,22 @@ Changelog for package autoware_pose_covariance_modifier 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* docs(autoware_pose_covariance_modifier): fix gt symbol (`#9082 `_) -* docs(autoware_pose_cov_modifier): fix line breaks and dead links (`#8991 `_) +* docs(autoware_pose_covariance_modifier): fix gt symbol (`#9082 `_) +* docs(autoware_pose_cov_modifier): fix line breaks and dead links (`#8991 `_) * fix(autoware_pose_cov_modifier): fix line breaks * fix dead links --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(autoware_pose_covariance_modifier): fix funcArgNamesDifferent (`#8007 `_) +* fix(autoware_pose_covariance_modifier): fix funcArgNamesDifferent (`#8007 `_) fix:funcArgNamesDifferent -* fix(pose_covariance_modifier): fix json schema (`#7323 `_) +* fix(pose_covariance_modifier): fix json schema (`#7323 `_) fix json schema Co-authored-by: Kotaro Yoshimoto -* fix(autoware_pose_covariance_modifier): change log output from screen to both (`#7198 `_) +* fix(autoware_pose_covariance_modifier): change log output from screen to both (`#7198 `_) change log output from screen to both Co-authored-by: SakodaShintaro -* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) +* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) Co-authored-by: M. Fatih Cırıt * Contributors: Esteve Fernandez, Masaki Baba, Yamato Ando, Yutaka Kondo, kobayu858, melike tanrikulu diff --git a/localization/autoware_pose_covariance_modifier/README.md b/localization/autoware_pose_covariance_modifier/README.md index 53cddbfa981c2..0b7255d33b40a 100644 --- a/localization/autoware_pose_covariance_modifier/README.md +++ b/localization/autoware_pose_covariance_modifier/README.md @@ -118,7 +118,7 @@ the [pose_twist_estimator.launch.xml](../../launch/tier4_localization_launch/lau ### Without this condition (default) - The output of the [ndt_scan_matcher](../../localization/autoware_ndt_scan_matcher) is directly sent - to [ekf_localizer](https://github.com/autowarefoundation/autoware.core/tree/main/localization/autoware_ekf_localizer). + to [ekf_localizer](https://github.com/autowarefoundation/autoware_core/tree/main/localization/autoware_ekf_localizer). - It has a preset covariance value. - **topic name:** `/localization/pose_estimator/pose_with_covariance` - The GNSS pose does not enter the ekf_localizer. @@ -130,7 +130,7 @@ the [pose_twist_estimator.launch.xml](../../launch/tier4_localization_launch/lau - **from:** `/localization/pose_estimator/pose_with_covariance`. - **to:** `/localization/pose_estimator/ndt_scan_matcher/pose_with_covariance`. - The `ndt_scan_matcher` output enters the `autoware_pose_covariance_modifier`. -- The output of this package goes to [ekf_localizer](https://github.com/autowarefoundation/autoware.core/tree/main/localization/autoware_ekf_localizer) with: +- The output of this package goes to [ekf_localizer](https://github.com/autowarefoundation/autoware_core/tree/main/localization/autoware_ekf_localizer) with: - **topic name:** `/localization/pose_estimator/pose_with_covariance`. ## Node diff --git a/localization/autoware_pose_covariance_modifier/package.xml b/localization/autoware_pose_covariance_modifier/package.xml index 9654c3ef5f114..52bb00e91c213 100644 --- a/localization/autoware_pose_covariance_modifier/package.xml +++ b/localization/autoware_pose_covariance_modifier/package.xml @@ -2,7 +2,7 @@ autoware_pose_covariance_modifier - 0.42.0 + 0.43.0 Add a description. Melike Tanrikulu diff --git a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst index 69ee7a90ffed1..f617c11331910 100644 --- a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst +++ b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_pose_estimator_arbiter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,23 +28,23 @@ Changelog for package autoware_pose_estimator_arbiter 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_pose_estimator_arbiter): add missing include (`#9376 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_pose_estimator_arbiter): add missing include (`#9376 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -48,9 +54,9 @@ Changelog for package autoware_pose_estimator_arbiter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -61,9 +67,9 @@ Changelog for package autoware_pose_estimator_arbiter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix -* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) +* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) * add autoware\_ prefix * add autoware\_ prefix * fix link for landmark_based_localizer diff --git a/localization/autoware_pose_estimator_arbiter/README.md b/localization/autoware_pose_estimator_arbiter/README.md index 87fcbc252cd8e..1a294d62fde1e 100644 --- a/localization/autoware_pose_estimator_arbiter/README.md +++ b/localization/autoware_pose_estimator_arbiter/README.md @@ -32,16 +32,16 @@ Also, even if both can be activated at the same time, the Kalman Filter may be a ### Supporting pose_estimators -- [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_ndt_scan_matcher) +- [ndt_scan_matcher](https://github.com/autowarefoundation/autoware_universe/tree/main/localization/autoware_ndt_scan_matcher) - [eagleye](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/launch-autoware/localization/eagleye/) -- [yabloc](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/yabloc) -- [landmark_based_localizer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_landmark_based_localizer) +- [yabloc](https://github.com/autowarefoundation/autoware_universe/tree/main/localization/yabloc) +- [landmark_based_localizer](https://github.com/autowarefoundation/autoware_universe/tree/main/localization/autoware_landmark_based_localizer) ### Demonstration The following video demonstrates the switching of four different pose estimators. -
+
Users can reproduce the demonstration using the following data and launch command: diff --git a/localization/autoware_pose_estimator_arbiter/package.xml b/localization/autoware_pose_estimator_arbiter/package.xml index 2245b6d4fbca5..6c7a6cf75a637 100644 --- a/localization/autoware_pose_estimator_arbiter/package.xml +++ b/localization/autoware_pose_estimator_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_pose_estimator_arbiter - 0.42.0 + 0.43.0 The arbiter of multiple pose estimators Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose_initializer/CHANGELOG.rst b/localization/autoware_pose_initializer/CHANGELOG.rst index 3b2c514993f3f..81ffb2e8f9d5b 100644 --- a/localization/autoware_pose_initializer/CHANGELOG.rst +++ b/localization/autoware_pose_initializer/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,12 +25,12 @@ Changelog for package autoware_pose_initializer 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) +* feat: apply `autoware\_` prefix for `default_ad_api_helpers` (`#9965 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu -* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) -* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) -* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (`#9777 `_) +* feat!: move diagnostics_module from localization_util to unverse_utils (`#9714 `_) * feat!: move diagnostics_module from localization_util to unverse_utils * remove diagnostics module from localization_util * style(pre-commit): autofix @@ -45,50 +51,50 @@ Changelog for package autoware_pose_initializer 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* feat(pose_initializer): check error initial pose and gnss pose, output diagnostics (`#8947 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* feat(pose_initializer): check error initial pose and gnss pose, output diagnostics (`#8947 `_) * check initial pose error use GNSS pose * add pose_error_check_enabled parameter * fixed key value name @@ -98,9 +104,9 @@ Changelog for package autoware_pose_initializer * fixed type and default in schema json * rename key value --------- -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) * add autoware\_ prefix * fix link --------- diff --git a/localization/autoware_pose_initializer/README.md b/localization/autoware_pose_initializer/README.md index d48520fa7ea30..acf1b1bcdaac0 100644 --- a/localization/autoware_pose_initializer/README.md +++ b/localization/autoware_pose_initializer/README.md @@ -52,7 +52,7 @@ If the score of initial pose estimation result is lower than score threshold, ER ## Connection with Default AD API -This `autoware_pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `autoware_default_adapi`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/localization.md). +This `autoware_pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `autoware_default_adapi`](https://github.com/autowarefoundation/autoware_universe/blob/main/system/autoware_default_adapi/document/localization.md). drawing @@ -137,4 +137,4 @@ pose: ``` It behaves the same as "initialpose (from rviz)". -The position.z and the covariance will be overwritten by [autoware_adapi_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/autoware_default_adapi_helpers/autoware_adapi_adaptors), so there is no need to input them. +The position.z and the covariance will be overwritten by [autoware_adapi_adaptors](https://github.com/autowarefoundation/autoware_universe/tree/main/system/autoware_default_adapi_helpers/autoware_adapi_adaptors), so there is no need to input them. diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml index 64c28ae639c3f..b62d92cedb3ec 100644 --- a/localization/autoware_pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -2,7 +2,7 @@ autoware_pose_initializer - 0.42.0 + 0.43.0 The autoware_pose_initializer package Yamato Ando Takagi, Isamu diff --git a/localization/autoware_pose_instability_detector/CHANGELOG.rst b/localization/autoware_pose_instability_detector/CHANGELOG.rst index e9853f68042e8..7426276f5f739 100644 --- a/localization/autoware_pose_instability_detector/CHANGELOG.rst +++ b/localization/autoware_pose_instability_detector/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_pose_instability_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,22 +28,22 @@ Changelog for package autoware_pose_instability_detector 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package autoware_pose_instability_detector 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,7 +66,7 @@ Changelog for package autoware_pose_instability_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) +* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) * add autoware\_ prefix * add autoware\_ prefix --------- diff --git a/localization/autoware_pose_instability_detector/package.xml b/localization/autoware_pose_instability_detector/package.xml index 09760bab5541d..d1b2c80c9badf 100644 --- a/localization/autoware_pose_instability_detector/package.xml +++ b/localization/autoware_pose_instability_detector/package.xml @@ -2,7 +2,7 @@ autoware_pose_instability_detector - 0.42.0 + 0.43.0 The autoware_pose_instability_detector package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_stop_filter/CHANGELOG.rst b/localization/autoware_stop_filter/CHANGELOG.rst index 325926851f3b1..203050501a5e4 100644 --- a/localization/autoware_stop_filter/CHANGELOG.rst +++ b/localization/autoware_stop_filter/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_stop_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,9 +22,9 @@ Changelog for package autoware_stop_filter 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: tier4_debug_msgs to autoware_internal_debug_msgs in files localization/autoware_stop_filter (`#9867 `_) +* feat: tier4_debug_msgs to autoware_internal_debug_msgs in files localization/autoware_stop_filter (`#9867 `_) Co-authored-by: SakodaShintaro -* fix(autoware_stop_filter): fix bugprone-reserved-identifier (`#9643 `_) +* fix(autoware_stop_filter): fix bugprone-reserved-identifier (`#9643 `_) * fix: bugprone-reserved-identifier * fix: fmt --------- @@ -26,21 +32,21 @@ Changelog for package autoware_stop_filter 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -50,9 +56,9 @@ Changelog for package autoware_stop_filter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -63,14 +69,14 @@ Changelog for package autoware_stop_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): autoware stop filter docs (`#8302 `_) +* fix(docs): autoware stop filter docs (`#8302 `_) fix autoware stop filter docs -* fix(autoware_stop_filter): fix funcArgNamesDifferent (`#8008 `_) +* fix(autoware_stop_filter): fix funcArgNamesDifferent (`#8008 `_) fix:funcArgNamesDifferent -* chore(localization, map): remove maintainer (`#7940 `_) -* fix(stop_filter): fix plugin name (`#7820 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* fix(stop_filter): fix plugin name (`#7820 `_) Fixed plugin name -* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) +* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) * refactor(stop_filter): prefix package and namespace with autoware * fix launch files and update CODEOWNERS --------- diff --git a/localization/autoware_stop_filter/package.xml b/localization/autoware_stop_filter/package.xml index dd48c7727a8d5..beb854b40c54e 100644 --- a/localization/autoware_stop_filter/package.xml +++ b/localization/autoware_stop_filter/package.xml @@ -2,7 +2,7 @@ autoware_stop_filter - 0.42.0 + 0.43.0 The stop filter package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_twist2accel/CHANGELOG.rst b/localization/autoware_twist2accel/CHANGELOG.rst index 219f699f2088a..65f4ce35a219e 100644 --- a/localization/autoware_twist2accel/CHANGELOG.rst +++ b/localization/autoware_twist2accel/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_twist2accel ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,29 +22,29 @@ Changelog for package autoware_twist2accel 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(autoware_twist2accel): remove an unused dependency (`#9881 `_) +* chore(autoware_twist2accel): remove an unused dependency (`#9881 `_) Removed an unused dependency -* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files localization/autoware_twist2accel (`#9868 `_) +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files localization/autoware_twist2accel (`#9868 `_) Co-authored-by: SakodaShintaro * Contributors: Fumiya Watanabe, SakodaShintaro, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -48,9 +54,9 @@ Changelog for package autoware_twist2accel 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -61,10 +67,10 @@ Changelog for package autoware_twist2accel 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(autoware_twist2accel): fix funcArgNamesDifferent (`#8391 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_twist2accel): fix funcArgNamesDifferent (`#8391 `_) fix:funcArgNamesDifferent -* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) +* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) * add autoware\_ prefix * add autoware\_ prefix * add autoware\_ prefix diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml index 8ed686f38374b..99bbd58b1bd83 100644 --- a/localization/autoware_twist2accel/package.xml +++ b/localization/autoware_twist2accel/package.xml @@ -2,7 +2,7 @@ autoware_twist2accel - 0.42.0 + 0.43.0 The acceleration estimation package Yamato Ando Masahiro Sakamoto diff --git a/localization/yabloc/README.md b/localization/yabloc/README.md index cf7c2a9f904fc..c25ead6267d72 100644 --- a/localization/yabloc/README.md +++ b/localization/yabloc/README.md @@ -81,4 +81,4 @@ These topics are not visualized by default. - In places where there are few road surface markings, such as intersections, the estimation heavily relies on GNSS, IMU, and vehicle's wheel odometry. - If the road boundary or road surface markings are not included in the Lanelet2, the estimation is likely to fail. - The sample rosbag provided in the autoware tutorial does not include images, so it is not possible to run YabLoc with it. - - If you want to test the functionality of YabLoc, the sample test data provided in this [PR](https://github.com/autowarefoundation/autoware.universe/pull/3946) is useful. + - If you want to test the functionality of YabLoc, the sample test data provided in this [PR](https://github.com/autowarefoundation/autoware_universe/pull/3946) is useful. diff --git a/localization/yabloc/yabloc_common/CHANGELOG.rst b/localization/yabloc/yabloc_common/CHANGELOG.rst index e17d22812b7e0..1e377655b185e 100644 --- a/localization/yabloc/yabloc_common/CHANGELOG.rst +++ b/localization/yabloc/yabloc_common/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package yabloc_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,22 +28,22 @@ Changelog for package yabloc_common 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package yabloc_common 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,21 +66,21 @@ Changelog for package yabloc_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(yabloc_common): fix unusedFunction (`#8560 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(yabloc_common): fix unusedFunction (`#8560 `_) fix:unusedFunction -* perf(yabloc_common): remove unnecessary pub/sub depth for transient_local (`#8248 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix: replace deprecated header in Jazzy (`#7603 `_) +* perf(yabloc_common): remove unnecessary pub/sub depth for transient_local (`#8248 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(yabloc_common): apply static analysis (`#7481 `_) +* refactor(yabloc_common): apply static analysis (`#7481 `_) * refactor based on linter * restore unwanted change * remove unnecessary comment @@ -83,7 +89,7 @@ Changelog for package yabloc_common * add static cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc): suppress no viable conversion error (`#7299 `_) +* fix(yabloc): suppress no viable conversion error (`#7299 `_) * use tier4_autoware_utils instead of yabloc::Color * use static_cast to convert Color to RGBA * use tier4_autoware_utils instead of yabloc::Color @@ -91,17 +97,17 @@ Changelog for package yabloc_common * 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 localization modules (`#7243 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* refactor(yabloc): use constexpr properly (`#7207 `_) -* fix(yabloc): fix bug in capturing in lambda function (`#7208 `_) +* refactor(yabloc): use constexpr properly (`#7207 `_) +* fix(yabloc): fix bug in capturing in lambda function (`#7208 `_) * fix(yabloc): fix bug in capturing in lambda function * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) +* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) * make executables component * log output changes to both * style(pre-commit): autofix @@ -110,17 +116,17 @@ Changelog for package yabloc_common * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(glog): add initialization check (`#6792 `_) +* chore(glog): add initialization check (`#6792 `_) * Contributors: Esteve Fernandez, Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, Ryohsuke Mitsudome, Ryuta Kambe, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo, kobayu858, ぐるぐる 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) +* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) * replace parameters by json_to_markdown * fix some schma path * fix again --------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -143,20 +149,20 @@ Changelog for package yabloc_common * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* build(yabloc_common): add missing libgoogle-glog-dev dependency (`#5225 `_) +* build(yabloc_common): add missing libgoogle-glog-dev dependency (`#5225 `_) * build(yabloc_common): add missing libgoogle-glog-dev dependency * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* chore: add maintainer in localization and map packages (`#4501 `_) -* fix(yabloc): fix typo (`#4281 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -167,7 +173,7 @@ Changelog for package yabloc_common * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -313,26 +319,26 @@ Changelog for package yabloc_common * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -343,18 +349,18 @@ Changelog for package yabloc_common * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -362,42 +368,42 @@ Changelog for package yabloc_common * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -411,47 +417,47 @@ Changelog for package yabloc_common * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -462,8 +468,8 @@ Changelog for package yabloc_common * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -472,8 +478,8 @@ Changelog for package yabloc_common * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -481,15 +487,15 @@ Changelog for package yabloc_common * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -498,7 +504,7 @@ Changelog for package yabloc_common * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml index 57c6550829a3c..aee42473205d6 100644 --- a/localization/yabloc/yabloc_common/package.xml +++ b/localization/yabloc/yabloc_common/package.xml @@ -1,7 +1,7 @@ yabloc_common - 0.42.0 + 0.43.0 YabLoc common library Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst index 01ad28225e5c0..f7e5ec0c9396e 100644 --- a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst +++ b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package yabloc_image_processing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,22 +28,22 @@ Changelog for package yabloc_image_processing 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package yabloc_image_processing 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,27 +66,27 @@ Changelog for package yabloc_image_processing 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(yabloc_image_processing): fix shadowFunction (`#7865 `_) +* fix(yabloc_image_processing): fix shadowFunction (`#7865 `_) * fix(yabloc_image_processing): fix shadowFunction * fix * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: replace deprecated header in Jazzy (`#7603 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(yabloc_image_processing): apply static analysis (`#7489 `_) +* refactor(yabloc_image_processing): apply static analysis (`#7489 `_) * refactor based on linter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_image_processing): componentize yabloc_image_processing nodes (`#7196 `_) +* feat(yabloc_image_processing): componentize yabloc_image_processing nodes (`#7196 `_) * replace executable with component * modify launch * fix line_segments_overlay namespace & node_name @@ -92,12 +98,12 @@ Changelog for package yabloc_image_processing 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) +* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) * replace parameters by json_to_markdown * fix some schma path * fix again --------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -120,30 +126,30 @@ Changelog for package yabloc_image_processing * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) +* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) * change arg default value * add yabloc_trigger_service * fix misc --------- -* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) +* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) * add raw image subscriber * update README * improve format and variable names --------- -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* fix(yabloc_image_processing): handle exception when no lines detected (`#4717 `_) -* chore: add maintainer in localization and map packages (`#4501 `_) -* feat(yabloc): change namespace (`#4389 `_) +* fix(yabloc_image_processing): handle exception when no lines detected (`#4717 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* fix(yabloc): fix typo (`#4281 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -154,7 +160,7 @@ Changelog for package yabloc_image_processing * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -179,14 +185,14 @@ Changelog for package yabloc_image_processing * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc): fix spell-check CI (`#4268 `_) +* fix(yabloc): fix spell-check CI (`#4268 `_) * fix(yabloc): fix typo * style(pre-commit): autofix * fix more typo * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -332,26 +338,26 @@ Changelog for package yabloc_image_processing * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -362,18 +368,18 @@ Changelog for package yabloc_image_processing * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -381,42 +387,42 @@ Changelog for package yabloc_image_processing * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -430,47 +436,47 @@ Changelog for package yabloc_image_processing * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -481,8 +487,8 @@ Changelog for package yabloc_image_processing * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -491,8 +497,8 @@ Changelog for package yabloc_image_processing * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -500,15 +506,15 @@ Changelog for package yabloc_image_processing * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -517,7 +523,7 @@ Changelog for package yabloc_image_processing * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_image_processing/package.xml b/localization/yabloc/yabloc_image_processing/package.xml index 0fbf868f001e6..e19d5e64d76a7 100644 --- a/localization/yabloc/yabloc_image_processing/package.xml +++ b/localization/yabloc/yabloc_image_processing/package.xml @@ -2,7 +2,7 @@ yabloc_image_processing - 0.42.0 + 0.43.0 YabLoc image processing package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_monitor/CHANGELOG.rst b/localization/yabloc/yabloc_monitor/CHANGELOG.rst index 387981136abf9..d1bc9b104ce8b 100644 --- a/localization/yabloc/yabloc_monitor/CHANGELOG.rst +++ b/localization/yabloc/yabloc_monitor/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package yabloc_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -18,21 +24,21 @@ Changelog for package yabloc_monitor 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -42,9 +48,9 @@ Changelog for package yabloc_monitor 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -55,8 +61,8 @@ Changelog for package yabloc_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(localization, map): remove maintainer (`#7940 `_) -* feat(yabloc_monitor): componentize yabloc_monitor node (`#7509 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* feat(yabloc_monitor): componentize yabloc_monitor node (`#7509 `_) * change node to component * fix launch file & cmake --------- @@ -64,7 +70,7 @@ Changelog for package yabloc_monitor 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -87,13 +93,13 @@ Changelog for package yabloc_monitor * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* chore: add maintainer in localization and map packages (`#4501 `_) -* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) * feat(yabloc_monitor): add yabloc_monitor * style(pre-commit): autofix * add readme diff --git a/localization/yabloc/yabloc_monitor/package.xml b/localization/yabloc/yabloc_monitor/package.xml index 777100cdb18b5..d22889f6e4b02 100644 --- a/localization/yabloc/yabloc_monitor/package.xml +++ b/localization/yabloc/yabloc_monitor/package.xml @@ -2,7 +2,7 @@ yabloc_monitor - 0.42.0 + 0.43.0 YabLoc monitor package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst index abb9759f317fc..4b7e80b59f04e 100644 --- a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst +++ b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package yabloc_particle_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,22 +28,22 @@ Changelog for package yabloc_particle_filter 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package yabloc_particle_filter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,8 +66,8 @@ Changelog for package yabloc_particle_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(yabloc_particle_filter): apply static analysis (`#7519 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(yabloc_particle_filter): apply static analysis (`#7519 `_) * removed unused * style(pre-commit): autofix * removed unused @@ -72,9 +78,9 @@ Changelog for package yabloc_particle_filter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(yabloc_common): apply static analysis (`#7481 `_) +* refactor(yabloc_common): apply static analysis (`#7481 `_) * refactor based on linter * restore unwanted change * remove unnecessary comment @@ -83,7 +89,7 @@ Changelog for package yabloc_particle_filter * add static cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_particle_filter): componentize yabloc_particle_filter nodes (`#7305 `_) +* feat(yabloc_particle_filter): componentize yabloc_particle_filter nodes (`#7305 `_) * componentize particle predictor * componentize particle visualizer * componentize particle correctors @@ -94,7 +100,7 @@ Changelog for package yabloc_particle_filter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto -* fix(yabloc): suppress no viable conversion error (`#7299 `_) +* fix(yabloc): suppress no viable conversion error (`#7299 `_) * use tier4_autoware_utils instead of yabloc::Color * use static_cast to convert Color to RGBA * use tier4_autoware_utils instead of yabloc::Color @@ -102,7 +108,7 @@ Changelog for package yabloc_particle_filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) +* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) * make executables component * log output changes to both * style(pre-commit): autofix @@ -111,12 +117,12 @@ Changelog for package yabloc_particle_filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(glog): add initialization check (`#6792 `_) +* chore(glog): add initialization check (`#6792 `_) * Contributors: Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -139,29 +145,29 @@ Changelog for package yabloc_particle_filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) +* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) * change arg default value * add yabloc_trigger_service * fix misc --------- -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* chore: add maintainer in localization and map packages (`#4501 `_) -* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) * refactor(yabloc_particle_filter): remove deprecated cmake ros2idl API * refactor(yabloc_pose_initializer): remove deprecated cmake ros2idl API --------- -* feat(yabloc): change namespace (`#4389 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* fix(yabloc_particle_filter): fix typo (`#4332 `_) -* fix(yabloc): fix typo (`#4281 `_) +* fix(yabloc_particle_filter): fix typo (`#4332 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -172,7 +178,7 @@ Changelog for package yabloc_particle_filter * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -197,14 +203,14 @@ Changelog for package yabloc_particle_filter * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc): fix spell-check CI (`#4268 `_) +* fix(yabloc): fix spell-check CI (`#4268 `_) * fix(yabloc): fix typo * style(pre-commit): autofix * fix more typo * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -350,26 +356,26 @@ Changelog for package yabloc_particle_filter * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -380,18 +386,18 @@ Changelog for package yabloc_particle_filter * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -399,42 +405,42 @@ Changelog for package yabloc_particle_filter * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -448,47 +454,47 @@ Changelog for package yabloc_particle_filter * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -499,8 +505,8 @@ Changelog for package yabloc_particle_filter * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -509,8 +515,8 @@ Changelog for package yabloc_particle_filter * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -518,15 +524,15 @@ Changelog for package yabloc_particle_filter * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -535,7 +541,7 @@ Changelog for package yabloc_particle_filter * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml index 7683e084669db..a5ea139d8ab12 100644 --- a/localization/yabloc/yabloc_particle_filter/package.xml +++ b/localization/yabloc/yabloc_particle_filter/package.xml @@ -2,7 +2,7 @@ yabloc_particle_filter - 0.42.0 + 0.43.0 YabLoc particle filter package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst index c20c805048e07..a0633ee2b46c5 100644 --- a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst +++ b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package yabloc_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,23 +25,23 @@ Changelog for package yabloc_pose_initializer 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - localization (`#9567 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(yabloc_pose_initializer): include opencv as system (`#9375 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(yabloc_pose_initializer): include opencv as system (`#9375 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -45,9 +51,9 @@ Changelog for package yabloc_pose_initializer 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -58,31 +64,31 @@ Changelog for package yabloc_pose_initializer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(pose_initializer, ndt_scan_matcher): check initial pose result and publish diag (`#8275 `_) +* feat(pose_initializer, ndt_scan_matcher): check initial pose result and publish diag (`#8275 `_) * feat(localization): check initial pose result and publish diag * fix: refactor * feat: update README * fix: rename reliability to reliable * feat: always return true in yabloc module --------- -* refactor(yabloc_pose_initializer): apply static analysis (`#7719 `_) +* refactor(yabloc_pose_initializer): apply static analysis (`#7719 `_) * refactor based on linter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix: replace deprecated header in Jazzy (`#7603 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* feat(yabloc_pose_initializer): componentize yabloc_pose_initializer node (`#7506 `_) +* feat(yabloc_pose_initializer): componentize yabloc_pose_initializer node (`#7506 `_) * change the node to component * remove useless node.cpp * add rclcpp_components as dependency --------- -* fix(yabloc): suppress no viable conversion error (`#7299 `_) +* fix(yabloc): suppress no viable conversion error (`#7299 `_) * use tier4_autoware_utils instead of yabloc::Color * use static_cast to convert Color to RGBA * use tier4_autoware_utils instead of yabloc::Color @@ -90,17 +96,17 @@ Changelog for package yabloc_pose_initializer * 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 localization modules (`#7243 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* perf(yabloc): fix performance warning of iterateByValue (`#6929 `_) +* perf(yabloc): fix performance warning of iterateByValue (`#6929 `_) * Contributors: Kento Yabuuchi, Masaki Baba, Ryohsuke Mitsudome, RyuYamamoto, Ryuta Kambe, Yutaka Kondo, ぐるぐる 0.26.0 (2024-04-03) ------------------- -* build(yabloc_pose_initializer): fix dependencies (`#6190 `_) -* chore(yabloc): rework parameters (`#6170 `_) +* build(yabloc_pose_initializer): fix dependencies (`#6190 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -123,19 +129,19 @@ Changelog for package yabloc_pose_initializer * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* build(yabloc_pose_initializer): remove downloading logic from CMake (`#4905 `_) +* build(yabloc_pose_initializer): remove downloading logic from CMake (`#4905 `_) * remove downloading logic from Cmake * build(yabloc_pose_initializer): remove downloading logic from CMake * build(yabloc_pose_initializer): update default model path in launch file --------- -* refactor(yabloc_pose_initializer): use cpp DNN module instead of python (`#5025 `_) +* refactor(yabloc_pose_initializer): use cpp DNN module instead of python (`#5025 `_) * cannot include yabloc_pose_initializer.srv * launch semantic_segmentation_cpp * implement DNN inference as C++ @@ -151,16 +157,16 @@ Changelog for package yabloc_pose_initializer * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add maintainer in localization and map packages (`#4501 `_) -* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) * refactor(yabloc_particle_filter): remove deprecated cmake ros2idl API * refactor(yabloc_pose_initializer): remove deprecated cmake ros2idl API --------- -* feat(yabloc): change namespace (`#4389 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* feat(yabloc_pose_initializer): make yabloc independent of dnn model by default (`#4296 `_) +* feat(yabloc_pose_initializer): make yabloc independent of dnn model by default (`#4296 `_) * care no dnn model exists * modify segmentation_srv to inform inference failure * add documentation @@ -169,7 +175,7 @@ Changelog for package yabloc_pose_initializer * make const variable be capital * use std::optional rather than reference arg --------- -* fix(yabloc): fix typo (`#4281 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -180,7 +186,7 @@ Changelog for package yabloc_pose_initializer * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -205,9 +211,9 @@ Changelog for package yabloc_pose_initializer * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc_pose_initializer): disable downloading artifacts by default (`#4110 `_) +* fix(yabloc_pose_initializer): disable downloading artifacts by default (`#4110 `_) Co-authored-by: Esteve Fernandez -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -353,26 +359,26 @@ Changelog for package yabloc_pose_initializer * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -383,18 +389,18 @@ Changelog for package yabloc_pose_initializer * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -402,42 +408,42 @@ Changelog for package yabloc_pose_initializer * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -451,47 +457,47 @@ Changelog for package yabloc_pose_initializer * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -502,8 +508,8 @@ Changelog for package yabloc_pose_initializer * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -512,8 +518,8 @@ Changelog for package yabloc_pose_initializer * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -521,15 +527,15 @@ Changelog for package yabloc_pose_initializer * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -538,7 +544,7 @@ Changelog for package yabloc_pose_initializer * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml index c3616c5981f53..93762910e1d7d 100644 --- a/localization/yabloc/yabloc_pose_initializer/package.xml +++ b/localization/yabloc/yabloc_pose_initializer/package.xml @@ -1,7 +1,7 @@ yabloc_pose_initializer - 0.42.0 + 0.43.0 The pose initializer Kento Yabuuchi Masahiro Sakamoto diff --git a/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst b/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst index 4f093f8bc281b..ba4f76e9d08b9 100644 --- a/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst +++ b/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst @@ -3,12 +3,18 @@ Changelog for package autoware_lanelet2_map_visualizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,8 +26,8 @@ Changelog for package autoware_lanelet2_map_visualizer 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) -* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package @@ -31,7 +37,7 @@ Changelog for package autoware_lanelet2_map_visualizer * add autoware prefix * removed unnecessary dependency --------- -* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package @@ -44,8 +50,8 @@ Changelog for package autoware_lanelet2_map_visualizer * Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome * Merge branch 'main' into release-0.40.0 -* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) -* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package @@ -55,7 +61,7 @@ Changelog for package autoware_lanelet2_map_visualizer * add autoware prefix * removed unnecessary dependency --------- -* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package @@ -69,25 +75,25 @@ Changelog for package autoware_lanelet2_map_visualizer 0.39.0 (2024-11-25) ------------------- -* chore(package.xml): bump version to 0.39.0 (`#9435 `_) - * chore: update CODEOWNERS (`#9203 `_) +* chore(package.xml): bump version to 0.39.0 (`#9435 `_) + * chore: update CODEOWNERS (`#9203 `_) Co-authored-by: github-actions - * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) * refactor(time_utils): prefix package and namespace with autoware * refactor(time_utils): 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> - * feat(rtc_interface): add requested field (`#9202 `_) + * feat(rtc_interface): add requested field (`#9202 `_) * add requested feature * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> - * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) - * fix(bpp): prevent accessing nullopt (`#9204 `_) + * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) + * fix(bpp): prevent accessing nullopt (`#9204 `_) fix(bpp): calcDistanceToRedTrafficLight null - * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) * refactor: grouping functions * refactor: grouping parameters * refactor: rename member road_users_history to road_users_history\_ @@ -102,7 +108,7 @@ Changelog for package autoware_lanelet2_map_visualizer --------- Co-authored-by: Mamoru Sobue Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) * Moved ndt_omp into ndt_scan_matcher * Added Copyright * style(pre-commit): autofix @@ -129,64 +135,64 @@ Changelog for package autoware_lanelet2_map_visualizer * Fixed to pass by reference --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) - * fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) + * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) + * fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) * fix rtc_interface * fix test condition --------- - * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) + * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) * add operator request feature * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> - * feat(collision_detector): use polling subscriber (`#9213 `_) + * feat(collision_detector): use polling subscriber (`#9213 `_) use polling subscriber - * fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) + * fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) fix(diagnostic_graph_utils): reset graph when new one is reveived - * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) + * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) Reduced initial_pose_estimation.particles_num from 200 to 100 on tests - * feat(control_launch): add collision detector in launch (`#9214 `_) + * feat(control_launch): add collision detector in launch (`#9214 `_) add collision detector in launch - * chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) + * chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) * add utils test --------- - * fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely (`#9212 `_) * fix(bvp): remove expired module safely * fix: remove module id set * fix: use itr to erase expired module * fix: remove unused function --------- - * test(bpp_common): add unit test for safety check (`#9223 `_) + * test(bpp_common): add unit test for safety check (`#9223 `_) * add test for object collision * add test for more functions * add docstring * fix lane change --------- - * fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) - * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) + * fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) * fix: bugprone-misplaced-widening-cast * fix: clang-format --------- - * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) + * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) fix: bugprone-misplaced-widening-cast - * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) * fix: bugprone-misplaced-widening-cast * fix: clang-format --------- - * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) - * refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) - * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) - * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) + * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) + * refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) + * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) + * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) fix: bugprone-unused-raii - * refactor(map_based_prediction): divide objectsCallback (`#9219 `_) - * refactor(map_based_prediction): move member functions to utils (`#9225 `_) - * test(crosswalk): add unit test (`#9228 `_) - * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) + * refactor(map_based_prediction): divide objectsCallback (`#9219 `_) + * refactor(map_based_prediction): move member functions to utils (`#9225 `_) + * test(crosswalk): add unit test (`#9228 `_) + * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) fix: bugprone-incorrect-roundings - * refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) - * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) - * feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) + * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) + * feat(autoware_motion_utils): add new trajectory class (`#8693 `_) * feat(autoware_motion_utils): add interpolator * use int32_t instead of int * use int32_t instead of int @@ -213,39 +219,39 @@ Changelog for package autoware_lanelet2_map_visualizer * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) + * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml - * feat(autoware_test_utils): add general topic dumper (`#9207 `_) - * fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) + * feat(autoware_test_utils): add general topic dumper (`#9207 `_) + * fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) Removed timer_tf\_ - * fix(autoware_rtc_interface): fix dependency (`#9237 `_) - * fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) + * fix(autoware_rtc_interface): fix dependency (`#9237 `_) + * fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) * solve issue with arc length * fix problem with points one vehicle apart from path --------- - * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) - * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) - * refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) - * chore(autoware_geography_utils): update maintainers (`#9246 `_) + * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) + * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) + * refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) + * chore(autoware_geography_utils): update maintainers (`#9246 `_) * update maintainers * add author --------- - * fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) + * fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) * RT0-33893 add checks from prev intersection * fix shadow variable * fix logic * update readme * refactor get_ego_footprint --------- - * fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) - * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) + * fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) + * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) * feat: fix launch file * chore: fix spell error * chore: fix parameters file name * chore: remove filter base --------- - * fix: missing dependency in common components (`#9072 `_) - * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * fix: missing dependency in common components (`#9072 `_) + * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) * create trajectory container package * update * update @@ -255,84 +261,84 @@ Changelog for package autoware_lanelet2_map_visualizer * fix cmake --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) + * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) fix: fix the wrong file name - * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) - * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) fix(dummy_diag_publisher): not use diagnostic_updater and param callback Co-authored-by: h-ohta - * fix: resolve build error of dummy diag publisher (`#1415 `_) + * fix: resolve build error of dummy diag publisher (`#1415 `_) fix merge conflict --------- Co-authored-by: Shohei Sakai Co-authored-by: h-ohta - * test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) + * test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) * add unit test for path shifter * fix unnecessary modification * fix spelling mistake * add docstring --------- - * feat(system_monitor): support loopback network interface (`#9067 `_) + * feat(system_monitor): support loopback network interface (`#9067 `_) * feat(system_monitor): support loopback network interface * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + * feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) change interface of InterpolateArray - * feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) + * feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) * feat(system_monitor): add config for network traffic monitor * fix: change function name from stop to skip --------- - * feat(detection_area)!: add retruction feature (`#9255 `_) - * fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) - * fix(bvp): use polling subscriber (`#9242 `_) + * feat(detection_area)!: add retruction feature (`#9255 `_) + * fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) + * fix(bvp): use polling subscriber (`#9242 `_) * fix(bvp): use polling subscriber * fix: use newest policy --------- - * refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) - * fix(bpp): prevent accessing nullopt (`#9269 `_) - * refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) - Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" + * refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) + * fix(bpp): prevent accessing nullopt (`#9269 `_) + * refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. - * feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) - * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) - * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) - * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) - * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) - * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + * feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) + * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) + * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) + * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) + * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) fix computation of maximum lane changing length threshold - * feat(aeb): set global param to override autoware state check (`#9263 `_) + * feat(aeb): set global param to override autoware state check (`#9263 `_) * set global param to override autoware state check * change variable to be more general * add comment * move param to control component launch * change param name to be more straightforward --------- - * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) + * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) feat(planning): add new steering factor topics for obstacle avoidance and lane changes - * chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- - * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) + * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) * RT1-8427 extending lc path for multiple lc * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> - * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) + * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) + * fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) * fix(behavior_path_planner_common): use boost intersects instead of overlaps * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp Co-authored-by: Go Sakayori --------- Co-authored-by: Go Sakayori - * ci(.github): update image tags (`#9286 `_) - * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * ci(.github): update image tags (`#9286 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) * refactor(autoware_ad_api_specs): prefix package and namespace with autoware * style(pre-commit): autofix * chore(autoware_adapi_specs): rename ad_api to adapi @@ -342,21 +348,21 @@ Changelog for package autoware_lanelet2_map_visualizer * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- - * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) + * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) * fix: bugprone-misplaced-widening-cast * fix: consider negative values --------- - * fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) + * fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) fix: clang-c-error - * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) + * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) fix: bugprone-incorrect-roundings - * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) - * refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) - * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) + * refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) + * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -379,17 +385,17 @@ Changelog for package autoware_lanelet2_map_visualizer * update unit test for test_planning/control_evaluator * manual pre-commit --------- - * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) - * chore(tvm_utility): remove tvm_utility package as it is no longer used (`#9291 `_) - * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) - * perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) - * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) + * chore(tvm_utility): remove tvm_utility package as it is no longer used (`#9291 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) + * perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) fix computation of maximum lane changing length threshold * perf: remove evecs, evals from Leaf * perf: remove evecs, evals from Leaf --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> - * test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) * modify costmap generator directory structure * rename class CostmapGenerator to CostmapGeneratorNode * unit test for object_map_utils @@ -404,32 +410,32 @@ Changelog for package autoware_lanelet2_map_visualizer Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi - * fix(control): missing dependency in control components (`#9073 `_) - * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) + * fix(control): missing dependency in control components (`#9073 `_) + * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) * update unit test of control_evaluator. * manual pre-commit. --------- - * fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * fix(collision_detector): skip process when odometry is not published (`#9308 `_) * subscribe odometry * fix precommit * remove unnecessary log info --------- - * feat(goal_planner): safety check with only parking path (`#9293 `_) - * refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) - * feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + * feat(goal_planner): safety check with only parking path (`#9293 `_) + * refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) + * feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) speed up by updating polygons - * fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) - * feat(autoware_trajectory): change default value of min_points (`#9315 `_) - * chore(codecov): update maintained packages (`#9316 `_) - * doc: fix links to design documents (`#9301 `_) - * fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) - * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) - * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) + * fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) + * feat(autoware_trajectory): change default value of min_points (`#9315 `_) + * chore(codecov): update maintained packages (`#9316 `_) + * doc: fix links to design documents (`#9301 `_) + * fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) + * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) * add changelog * update changelog * fix version * 0.39.0 - * refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml index e1627f6e9b7e5..645f58f870c24 100644 --- a/map/autoware_lanelet2_map_visualizer/package.xml +++ b/map/autoware_lanelet2_map_visualizer/package.xml @@ -2,7 +2,7 @@ autoware_lanelet2_map_visualizer - 0.42.0 + 0.43.0 The autoware_lanelet2_map_visualizer package Yamato Ando Ryu Yamamoto diff --git a/map/autoware_map_height_fitter/CHANGELOG.rst b/map/autoware_map_height_fitter/CHANGELOG.rst index c3c0a28c66e1e..13ff0512a9ef1 100644 --- a/map/autoware_map_height_fitter/CHANGELOG.rst +++ b/map/autoware_map_height_fitter/CHANGELOG.rst @@ -2,19 +2,25 @@ Changelog for package autoware_map_height_fitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- -* fix(autoware_map_height_fitter): find PCL package after autoware_package() is called (`#10070 `_) +* fix(autoware_map_height_fitter): find PCL package after autoware_package() is called (`#10070 `_) * Contributors: Ryohsuke Mitsudome 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) ------------------- -* fix(autoware_map_height_fitter): find PCL package after autoware_package() is called (`#10070 `_) +* fix(autoware_map_height_fitter): find PCL package after autoware_package() is called (`#10070 `_) * Contributors: Ryohsuke Mitsudome 0.41.0 (2025-01-29) @@ -23,22 +29,22 @@ Changelog for package autoware_map_height_fitter 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - map (`#9568 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -48,9 +54,9 @@ Changelog for package autoware_map_height_fitter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -61,7 +67,7 @@ Changelog for package autoware_map_height_fitter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) +* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) * add autoware\_ prefix * style(pre-commit): autofix * remove duplicated dependency diff --git a/map/autoware_map_height_fitter/package.xml b/map/autoware_map_height_fitter/package.xml index e0005a202b8b3..2810a89d58aa3 100644 --- a/map/autoware_map_height_fitter/package.xml +++ b/map/autoware_map_height_fitter/package.xml @@ -2,7 +2,7 @@ autoware_map_height_fitter - 0.42.0 + 0.43.0 The autoware_map_height_fitter package Takagi, Isamu Yamato Ando diff --git a/map/autoware_map_loader/CHANGELOG.rst b/map/autoware_map_loader/CHANGELOG.rst index 34687acea65e1..3a66c7dcd4e7a 100644 --- a/map/autoware_map_loader/CHANGELOG.rst +++ b/map/autoware_map_loader/CHANGELOG.rst @@ -2,16 +2,26 @@ Changelog for package autoware_map_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(autoware_map_loader): exec name renamed in 24652f8 (`#10247 `_) + * fix(autoware_map_loader): exec name renamed in 24652f834f73b13b3e4465bfc9ab8335cbe6cdcf + * restored node name + --------- +* Contributors: Hayato Mizushima, Yutaka Kondo, ralwing + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix: modify the exec name of autoware_pointcloud_map_loader (`#10054 `_) +* fix: modify the exec name of autoware_pointcloud_map_loader (`#10054 `_) Fixed exec name * Contributors: Fumiya Watanabe, SakodaShintaro 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,27 +30,27 @@ Changelog for package autoware_map_loader 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - map (`#9568 `_) -* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) -* fix: fix package names in changelog files (`#9500 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* fix: fix package names in changelog files (`#9500 `_) * update version -* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package @@ -50,7 +60,7 @@ Changelog for package autoware_map_loader * add autoware prefix * removed unnecessary dependency --------- -* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package @@ -65,51 +75,51 @@ Changelog for package autoware_map_loader 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix -* docs(map_loader): update the link of pointcloud_divider (`#8823 `_) +* docs(map_loader): update the link of pointcloud_divider (`#8823 `_) update link -* docs(map_loader): update the link of map_projection_loader (`#8825 `_) +* docs(map_loader): update the link of map_projection_loader (`#8825 `_) update the link of map_projection_loader -* chore(map_loader): update maintainer (`#8821 `_) +* chore(map_loader): update maintainer (`#8821 `_) update maintainer -* feat(map loader): visualize bus stop area and bicycle_lane (`#8777 `_) -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) +* feat(map loader): visualize bus stop area and bicycle_lane (`#8777 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) * refactor(geography_utils): prefix package and namespace with autoware * move headers to include/autoware/ --------- -* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) -* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) +* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- -* chore(localization, map): remove maintainer (`#7940 `_) -* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) Co-authored-by: Yamato Ando -* refactor(map_loader): apply static analysis (`#7845 `_) +* refactor(map_loader): apply static analysis (`#7845 `_) * refactor based on linter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* style: updating the colors for the parking spaces and lot (`#7726 `_) -* feat(map_loader): add waypoints flag (`#7480 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* style: updating the colors for the parking spaces and lot (`#7726 `_) +* feat(map_loader): add waypoints flag (`#7480 `_) * feat(map_loader): handle centelrine and waypoints * update README * fix doc @@ -117,7 +127,7 @@ Changelog for package autoware_map_loader * fix * fix --------- -* feat(map_loader): warn if some pcds from the metadata file are missing (`#7406 `_) +* feat(map_loader): warn if some pcds from the metadata file are missing (`#7406 `_) * Examine if there are PCD segments found in the metadata file but are missing from the input pcd paths * style(pre-commit): autofix * Fixing CI @@ -127,12 +137,12 @@ Changelog for package autoware_map_loader * Removed try{} block from getPCDMetadata and redundant std::endl at the end of error messages --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(map): udpate maintainer (`#7405 `_) +* chore(map): udpate maintainer (`#7405 `_) udpate maintainer -* fix(map_loader): add log output (`#7203 `_) +* fix(map_loader): add log output (`#7203 `_) add log output Co-authored-by: SakodaShintaro -* feat!: replace autoware_auto_msgs with autoware_msgs for map modules (`#7244 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for map modules (`#7244 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -140,9 +150,9 @@ Changelog for package autoware_map_loader 0.26.0 (2024-04-03) ------------------- -* fix(map_loader): fix warnings with single point cloud map metadata (`#6384 `_) -* fix(log-messages): reduce excessive log messages (`#5971 `_) -* chore(map_loader): rework parameters of map_loader (`#6199 `_) +* fix(map_loader): fix warnings with single point cloud map metadata (`#6384 `_) +* fix(log-messages): reduce excessive log messages (`#5971 `_) +* chore(map_loader): rework parameters of map_loader (`#6199 `_) * Rework parameters of map_loader * style(pre-commit): autofix * Fixed typo in name of map_based_pediction.schema.json, which cause json-schema-check failed @@ -152,24 +162,24 @@ Changelog for package autoware_map_loader * Remove default values of declare_parameter from map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* revert(map_loader): revert the change error handling when pcd_metadata file (`#6294 `_) - Revert "fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_)" +* revert(map_loader): revert the change error handling when pcd_metadata file (`#6294 `_) + Revert "fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_)" This reverts commit 25bc636fe0f796c63daac60123aa6138146e515d. -* chore(lanelet2_map_loader): enrich error message (`#6245 `_) -* chore(map_loader): add maintainer (`#6232 `_) -* fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_) +* chore(lanelet2_map_loader): enrich error message (`#6245 `_) +* chore(map_loader): add maintainer (`#6232 `_) +* fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_) Changed error handling when pcd_metadata file not found -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* fix(map_loader): show traffic light regulatory element id per lanelet (`#6028 `_) +* fix(map_loader): show traffic light regulatory element id per lanelet (`#6028 `_) * fix(map_loader): show traffic light regulatory element id per lanelet * feat(map_loader): show traffic light id --------- Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* refactor(ndt_scan_matcher, map_loader): remove map_module (`#5873 `_) +* refactor(ndt_scan_matcher, map_loader): remove map_module (`#5873 `_) * Removed use_dynamic_map_loading * Removed enable_differential_load option * style(pre-commit): autofix @@ -178,39 +188,39 @@ Changelog for package autoware_map_loader * Removed pointcloud_map and input_ekf_odom --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): use dummy projector when using local coordinates (`#5866 `_) +* feat(map_loader): use dummy projector when using local coordinates (`#5866 `_) * feat(map_loader): use dummy projector when using local coordinates * fix build warning * fix runtime error * fix reverse function --------- -* chore(map_loader): visualize crosswalk id (`#5880 `_) -* chore: add maintainer in map packages (`#5865 `_) +* chore(map_loader): visualize crosswalk id (`#5880 `_) +* chore: add maintainer in map packages (`#5865 `_) * add maintainer * modify map_tf_generator's maintainer --------- -* fix: add_ros_test to add_launch_test (`#5486 `_) +* fix: add_ros_test to add_launch_test (`#5486 `_) * fix: add_ros_test to add_launch_test * fix ndt_scan_matcher --------- -* chore(map_loader): update readme (`#5468 `_) +* chore(map_loader): update readme (`#5468 `_) * chore(map_loader): update readme * make the annotation bold * fix --------- -* feat(map_loader): show intersection areas (`#5401 `_) -* feat(map_loader): display curbstone as marker array (`#4958 `_) +* feat(map_loader): show intersection areas (`#5401 `_) +* feat(map_loader): display curbstone as marker array (`#4958 `_) display curbstone as marker array Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* refactor(map_packages): remove unused depend in pakcages.xml files (`#5172 `_) +* refactor(map_packages): remove unused depend in pakcages.xml files (`#5172 `_) Co-authored-by: yamato-ando -* feat: support transverse mercator projection (`#4883 `_) +* feat: support transverse mercator projection (`#4883 `_) * feat: support transverse mercator projection * fix some * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(geography_utils): add lanelet2_projector (`#4852 `_) +* feat(geography_utils): add lanelet2_projector (`#4852 `_) * feat(geography_utils): add lanelet2_projector * style(pre-commit): autofix * update package.xml @@ -219,14 +229,14 @@ Changelog for package autoware_map_loader * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use constant string for map_projector_info (`#4789 `_) +* feat: use constant string for map_projector_info (`#4789 `_) * feat: use constant string for map_projector_info * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: add vertical datum in map_projector_info (`#4708 `_) +* feat!: add vertical datum in map_projector_info (`#4708 `_) * resolve conflict * update * UTM -> LocalCartesianUTM @@ -239,15 +249,15 @@ Changelog for package autoware_map_loader * add vertical datum for lanelet2 --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: rename utm to local_cartesian_utm (`#4704 `_) +* feat!: rename utm to local_cartesian_utm (`#4704 `_) * feat(map_projection_loader, map_loader): rename utm to local_cartesian_utm * fix readme * fix default ad api --------- -* feat!: rename map_projector_type to map_projector_info (`#4664 `_) -* fix(lanelet2_map_loader): fixed parameter declaration timing (`#4639 `_) +* feat!: rename map_projector_type to map_projector_info (`#4664 `_) +* fix(lanelet2_map_loader): fixed parameter declaration timing (`#4639 `_) Change parameter declaration timing -* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) +* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) * feat(map): use component_interface_specs in map_projection_loader * update map_loader * style(pre-commit): autofix @@ -257,7 +267,7 @@ Changelog for package autoware_map_loader * fix test --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_projection_loader): add map_projection_loader (`#3986 `_) +* feat(map_projection_loader): add map_projection_loader (`#3986 `_) * feat(map_projection_loader): add map_projection_loader * style(pre-commit): autofix * Update default algorithm @@ -311,17 +321,17 @@ Changelog for package autoware_map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* chore: add maintainer in localization and map packages (`#4501 `_) -* feat(goal_planner): add no_parking_area for goal search (`#3467 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(goal_planner): add no_parking_area for goal search (`#3467 `_) * feat(behavior_path_planner): use no_parking_area for pull_over * support no_stopping_area --------- -* fix(map_loader): fix spell-check (`#4280 `_) -* feat(crosswalk): support crosswalk regulatory element (`#3939 `_) +* fix(map_loader): fix spell-check (`#4280 `_) +* feat(crosswalk): support crosswalk regulatory element (`#3939 `_) * feat(crosswalk): use regulatory element * feat(map_loader): show crosswalk areas --------- -* fix(map_loader): update readme for metadata (`#3919 `_) +* fix(map_loader): update readme for metadata (`#3919 `_) * fix(map_loader): update readme for metadata * style(pre-commit): autofix * update @@ -332,14 +342,14 @@ Changelog for package autoware_map_loader * update --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(map_loader): handle enable_selected_load correctly (`#3920 `_) +* fix(map_loader): handle enable_selected_load correctly (`#3920 `_) * fix(map_loader): update readme for metadata * fix(map_loader): handle enable_selected_load flag correctly * style(pre-commit): autofix * revert readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): use cylindrical area for map loader (`#3863 `_) +* feat(map_loader): use cylindrical area for map loader (`#3863 `_) * feat(map_loader): use cylindrical area for query instead of spherical area * update * style(pre-commit): autofix @@ -347,7 +357,7 @@ Changelog for package autoware_map_loader * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add publish map projector info (`#3200 `_) +* feat(map_loader): add publish map projector info (`#3200 `_) * add publish mgrs grid * fix publish wrong grid code when there is no mgrs code in lanelet * Revert "fix publish wrong grid code when there is no mgrs code in lanelet" @@ -361,19 +371,19 @@ Changelog for package autoware_map_loader * add local publish --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* fix(map_loader): re-align lanelet borders after overwriting coordinates (`#3825 `_) -* fix(map_loader): fix readme (`#3667 `_) -* feat(map_loader): visualize hatched road markings (`#3639 `_) +* fix(map_loader): re-align lanelet borders after overwriting coordinates (`#3825 `_) +* fix(map_loader): fix readme (`#3667 `_) +* feat(map_loader): visualize hatched road markings (`#3639 `_) * feat(map_loader): visualize hatched road markings * update --------- -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -381,13 +391,13 @@ Changelog for package autoware_map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(map_loader): add local map projector (`#3492 `_) +* feat(map_loader): add local map projector (`#3492 `_) * feat(map_loader): add local map projector * update README * update readme * use the same naming standard --------- -* feat(map_loader): add selected map loader (`#3286 `_) +* feat(map_loader): add selected map loader (`#3286 `_) * add id based map loader * add metadata publisher * feat(map_loader): add support for sequential_map_loading @@ -400,11 +410,11 @@ Changelog for package autoware_map_loader --------- Co-authored-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(map_loader): fix a bug that occurs when loading multiple pcds (`#3274 `_) +* fix(map_loader): fix a bug that occurs when loading multiple pcds (`#3274 `_) * fix(map_loader): fix a bug that occurs when loading multiple pcds * fix --------- -* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) +* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) * feat(map_loader): add grid coordinates for partial/differential map load * style(pre-commit): autofix * update readme @@ -414,9 +424,9 @@ Changelog for package autoware_map_loader * update readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(map_loader): address deprecated warning for some environment (`#3188 `_) +* fix(map_loader): address deprecated warning for some environment (`#3188 `_) fix(map_loader): address deprecated warning for some version -* test(map_loader): add a ROS 2 test (`#3170 `_) +* test(map_loader): add a ROS 2 test (`#3170 `_) * chore(map_loader): add a ROS 2 test * style(pre-commit): autofix * debug @@ -426,7 +436,7 @@ Changelog for package autoware_map_loader * fix pre-commit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) +* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) * chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch Update launch/tier4_map_launch/launch/map.launch.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> @@ -434,9 +444,9 @@ Changelog for package autoware_map_loader remove config path * chore(tier4_map_launch): fix lanelet launch name --------- -* ci(pre-commit): autoupdate (`#2819 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): dynamic map loading (`#2339 `_) +* feat(ndt_scan_matcher): dynamic map loading (`#2339 `_) * first commit * ci(pre-commit): autofix * import map update module in core @@ -489,17 +499,17 @@ Changelog for package autoware_map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* fix(lanelet2_map_loader): delete unused parameters (`#2761 `_) +* fix(lanelet2_map_loader): delete unused parameters (`#2761 `_) * fix(lanelet2_map_loader): delete unused parameters * Update lanelet2_map_loader.launch.xml -* fix(map_loader): apply clang-tidy (`#2668 `_) +* fix(map_loader): apply clang-tidy (`#2668 `_) * fix(map_loader): apply clang-tidy * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_velocity_planner): add speed bump module (`#647 `_) +* feat(behavior_velocity_planner): add speed bump module (`#647 `_) Co-authored-by: Kosuke Takeuchi Co-authored-by: Takayuki Murooka -* feat(map_loader): add differential map loading interface (`#2417 `_) +* feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -509,7 +519,7 @@ Changelog for package autoware_map_loader * fix readme * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) +* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) * first commit * debugged * update readme @@ -521,7 +531,7 @@ Changelog for package autoware_map_loader * set default param to false * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) +* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) * first commit * reverted unnecessary modification * ci(pre-commit): autofix @@ -571,7 +581,7 @@ Changelog for package autoware_map_loader * remove fmt from target_link_libraries in test * minor fix in cmakelists.txt Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(map_loader): modularization (`#2243 `_) +* refactor(map_loader): modularization (`#2243 `_) * refactor(map_loader): modularization * ci(pre-commit): autofix * simplified @@ -582,14 +592,14 @@ Changelog for package autoware_map_loader * ci(pre-commit): autofix * edit copyright Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(map_loader): add maintainer (`#2245 `_) +* chore(map_loader): add maintainer (`#2245 `_) * chore(map_loader): add maintainer * remove miyake-san -* feat(map_loader): make some functions static (`#2014 `_) +* feat(map_loader): make some functions static (`#2014 `_) * feat(map_loader): make some functions static * make publisher alive after constructor -* refactor(map_loader): split to member functions (`#1941 `_) -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* refactor(map_loader): split to member functions (`#1941 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -622,7 +632,7 @@ Changelog for package autoware_map_loader * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat: add vector map inside area filter (`#1530 `_) +* feat: add vector map inside area filter (`#1530 `_) * feat: add no detection area filter * ci(pre-commit): autofix * chore: add documents @@ -646,25 +656,25 @@ Changelog for package autoware_map_loader * chore: using namespace of PolygonCgal for readability * feat: add functions for multiple polygons Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* test(map_loader): add launch test for the 'lanelet2_map_loader' node (`#1056 `_) +* test(map_loader): add launch test for the 'lanelet2_map_loader' node (`#1056 `_) Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add parameter argument for lanelet2_map_loader (`#954 `_) +* feat: add parameter argument for lanelet2_map_loader (`#954 `_) * feat: add parameter argument for lanelet2_map_loader * feat: add comment -* 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 (`#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 -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* fix(map_loader): modify build error in rolling (`#777 `_) -* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) +* style: fix format of package.xml (`#844 `_) +* fix(map_loader): modify build error in rolling (`#777 `_) +* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) * ci(pre-commit): autofix * ci(pre-commit): autofix * fix(map_loader): add UTM projector to map_loader package @@ -687,14 +697,14 @@ Changelog for package autoware_map_loader Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt Co-authored-by: Berkay -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(lanelet2_extension,map_loader): add guard_rail wall fence as lanelet tag (`#478 `_) +* feat(lanelet2_extension,map_loader): add guard_rail wall fence as lanelet tag (`#478 `_) * feat(lanelet2_extension): add guard_rails fence wall as lanelet tag * feat(map_loader): add visualization for partion lanelet -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -711,7 +721,7 @@ Changelog for package autoware_map_loader * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -719,7 +729,7 @@ Changelog for package autoware_map_loader * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* refactor: remove unnecessary messages (`#133 `_) +* refactor: remove unnecessary messages (`#133 `_) * remove ControlCommand.msg and ControlCommandStamped.msg * remove BatteryStatus.msg RawControlCommand.msg RawVehicleCommand.msg VehicleCommand.msg * remove traffic_light_recognition msgs @@ -738,8 +748,8 @@ Changelog for package autoware_map_loader * ci(pre-commit): autofix * fix: each messages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: move elevation map loader (`#740 `_) (`#136 `_) - * feat: Move elevation map loader (`#740 `_) +* feat: move elevation map loader (`#740 `_) (`#136 `_) + * feat: Move elevation map loader (`#740 `_) * Update perception/elevation_map_loader/README.md Co-authored-by: Tomoya Kimura * Update perception/elevation_map_loader/README.md @@ -748,34 +758,34 @@ Changelog for package autoware_map_loader Co-authored-by: Tomoya Kimura Co-authored-by: Taichi Higashide Co-authored-by: Tomoya Kimura -* feat: add pcd map hash generator (`#745 `_) (`#130 `_) +* feat: add pcd map hash generator (`#745 `_) (`#130 `_) Co-authored-by: Taichi Higashide Co-authored-by: Tomoya Kimura -* feat: add map packages (`#8 `_) +* feat: add map packages (`#8 `_) * release v0.4.0 - * add resolution param in lanelet2_extension (`#760 `_) - * Fix/extend drivable area beyond goal (`#781 `_) + * add resolution param in lanelet2_extension (`#760 `_) + * Fix/extend drivable area beyond goal (`#781 `_) * update llt2 extention query func * extend drivable area over goal point * apply clang * update get preeceeding func * update preceeding func in lanechange * update comment - * Fix intersection preceeding lane query (`#807 `_) + * Fix intersection preceeding lane query (`#807 `_) * modified interseciton module to add lanelets in intersection to objective lanelets due to change in getPreceedingLaneletSequences() * update comment - * Install executables in lanelet2_map_preprocessor (`#834 `_) + * Install executables in lanelet2_map_preprocessor (`#834 `_) * remove ROS1 packages temporarily * Revert "remove ROS1 packages temporarily" This reverts commit 3290a8b9e92c9eae05d9159c8b9fd56ca8935c01. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * port map_tf_generator (`#32 `_) + * Rename launch files to launch.xml (`#28 `_) + * port map_tf_generator (`#32 `_) * port map_tf_generator * add missing dependency * fix pointor, tf_broadcaster, add compile option * use ament_auto - * Port lanelet2 extension (`#36 `_) + * Port lanelet2 extension (`#36 `_) * remove COLCON_IGNORE * port to ROS2 * minor fix @@ -785,18 +795,18 @@ Changelog for package autoware_map_loader * fix usage for ROS2 * fix usage message and parameter declaration * fix getting map_file parameter - * Port map loader (`#44 `_) + * Port map loader (`#44 `_) * port map_loader to ROS2 * fix unintended change * Update map/map_loader/CMakeLists.txt Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe - * Add geometry2 to repos (`#76 `_) + * Add geometry2 to repos (`#76 `_) * add geometry2 package temporarily until new release * trigger-ci * add tf2 dependency to the packages that use tf2_geometry_msgs - * Revert "Add geometry2 to repos (`#76 `_)" (`#96 `_) - * Revert "Add geometry2 to repos (`#76 `_)" + * Revert "Add geometry2 to repos (`#76 `_)" (`#96 `_) + * Revert "Add geometry2 to repos (`#76 `_)" This reverts commit 7dbe25ed5ff7d5f413fda567dcc77a70c79a7826. * Re-add tf2 dependencies * Revert "Re-add tf2 dependencies" @@ -807,31 +817,31 @@ Changelog for package autoware_map_loader * Explicitly install known versions of the geometry packages * No need to skip tf2 packages anymore Co-authored-by: Esteve Fernandez - * Rename h files to hpp (`#142 `_) + * Rename h files to hpp (`#142 `_) * Change includes * Rename files * Adjustments to make things compile * Other packages - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * 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 (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * fixing trasient_local in ROS2 packages (`#160 `_) - * added linters to lanelet1_extension (`#170 `_) - * adding linters to map_loader (`#171 `_) - * adding linters to map_tf_generator (`#172 `_) - * apply env_var to use_sim_time (`#222 `_) - * Ros2 v0.8.0 map loader and lanelet2 extension (`#279 `_) - * Ros2 v0.8 fix typo of "preceding" (`#323 `_) + * fixing trasient_local in ROS2 packages (`#160 `_) + * added linters to lanelet1_extension (`#170 `_) + * adding linters to map_loader (`#171 `_) + * adding linters to map_tf_generator (`#172 `_) + * apply env_var to use_sim_time (`#222 `_) + * Ros2 v0.8.0 map loader and lanelet2 extension (`#279 `_) + * Ros2 v0.8 fix typo of "preceding" (`#323 `_) * Fix typo of getPrecedingLaneletSequences * Fix comment - * Fix rviz2 low FPS (`#390 `_) - * add nullptr check when publish concatenate data (`#369 `_) - * Add warning msg when concat pointcloud is not published (`#388 `_) + * Fix rviz2 low FPS (`#390 `_) + * add nullptr check when publish concatenate data (`#369 `_) + * Add warning msg when concat pointcloud is not published (`#388 `_) * Change lineString2Marker * Change trafficLight2TriangleMarker * Change laneletDirectionAsMarker @@ -839,21 +849,21 @@ Changelog for package autoware_map_loader * Fix linter problems Co-authored-by: Taichi Higashide Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * [map_loader] modify colors for lane markers for better visualization (`#398 `_) - * fix empty marker (`#423 `_) - * Fix typo in map module (`#437 `_) - * add license (`#443 `_) - * avoid pushing empty marker (`#441 `_) + * [map_loader] modify colors for lane markers for better visualization (`#398 `_) + * fix empty marker (`#423 `_) + * Fix typo in map module (`#437 `_) + * add license (`#443 `_) + * avoid pushing empty marker (`#441 `_) * avoid pushing empty marker * size0 -> empty - * add use_sim-time option (`#454 `_) - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * add use_sim-time option (`#454 `_) + * 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 `_) + * 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 @@ -861,7 +871,7 @@ Changelog for package autoware_map_loader * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * 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 @@ -871,19 +881,19 @@ Changelog for package autoware_map_loader * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * 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 `_) + * 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 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -897,16 +907,16 @@ Changelog for package autoware_map_loader Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski - * Revert "fix: re-construct laneletMapLayer for reindex RTree (`#463 `_)" (`#1229 `_) + * Revert "fix: re-construct laneletMapLayer for reindex RTree (`#463 `_)" (`#1229 `_) This reverts commit d2ecdfe4c58cb4544c9a3ee84947b36b7ee54421. - * add pcd file check (`#1232 `_) + * add pcd file check (`#1232 `_) * add pcd file check * add space * add & * use namespace - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Map components (`#1311 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Map components (`#1311 `_) * Make pointcloud map loader component * Make lanelet2 map loader component * Make map tf generator component @@ -915,13 +925,13 @@ Changelog for package autoware_map_loader * Fix license * Add comment for filesystem * Fix variable name for glob - * Fix dependency for query (`#1519 `_) - * Fix a small bug (`#1644 `_) - * Fix minor flaws detected by Clang-Tidy (`#1647 `_) + * Fix dependency for query (`#1519 `_) + * Fix a small bug (`#1644 `_) + * Fix minor flaws detected by Clang-Tidy (`#1647 `_) - misc-throw-by-value-catch-by-reference - cppcoreguidelines-init-variables - readability-isolate-declaration - * Add pre-commit (`#1560 `_) + * Add pre-commit (`#1560 `_) * add pre-commit * add pre-commit-config * add additional settings for private repository @@ -941,8 +951,8 @@ Changelog for package autoware_map_loader Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Porting traffic light viz (`#1284 `_) - * Feature/traffic light viz (`#1001 `_) + * Porting traffic light viz (`#1284 `_) + * Feature/traffic light viz (`#1001 `_) * add tl map viz * bug fix * update map visualizer @@ -956,12 +966,12 @@ Changelog for package autoware_map_loader * Replace deprecated duration api Co-authored-by: Yukihiro Saito Co-authored-by: wep21 - * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier (`#1661 `_) * Add markdownlint and prettier * Ignore .param.yaml * Apply format - * Feature/compare elevation map (`#1488 `_) - * suppress warnings for declare parameters (`#1724 `_) + * Feature/compare elevation map (`#1488 `_) + * suppress warnings for declare parameters (`#1724 `_) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor @@ -980,7 +990,7 @@ Changelog for package autoware_map_loader * add Werror * add Werror * fix style - * suppress warnings for map (`#1773 `_) + * suppress warnings for map (`#1773 `_) * add compile option * fix error * add compile option @@ -993,30 +1003,30 @@ Changelog for package autoware_map_loader * use U * use U Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Fix clang warnings (`#1859 `_) + * Fix clang warnings (`#1859 `_) * Fix -Wreturn-std-move * Fix -Wunused-private-field * Ignore -Wnonportable-include-path for mussp * Fix -Wunused-const-variable * Fix "can not be used when making a shared object" - * Sync v1.3.0 (`#1909 `_) - * Add elevation_map to autoware_state_monitor (`#1907 `_) - * Disable saving elevation map temporarily (`#1906 `_) - * Fix typos in README of map_loader (`#1923 `_) + * Sync v1.3.0 (`#1909 `_) + * Add elevation_map to autoware_state_monitor (`#1907 `_) + * Disable saving elevation map temporarily (`#1906 `_) + * Fix typos in README of map_loader (`#1923 `_) * Fix typos in README of map_loader * Apply Prettier - * fix some typos (`#1941 `_) + * fix some typos (`#1941 `_) * fix some typos * fix typo * Fix typo Co-authored-by: Kenji Miyake - * Add autoware api (`#1979 `_) - * Invoke code formatter at pre-commit (`#1935 `_) + * Add autoware api (`#1979 `_) + * Invoke code formatter at pre-commit (`#1935 `_) * Run ament_uncrustify at pre-commit * Reformat existing files * Fix copyright and cpplint errors Co-authored-by: Kenji Miyake - * Save elevation_map with pcd md5sum (`#1988 `_) + * Save elevation_map with pcd md5sum (`#1988 `_) * Save elevation_map with pcd md5sum * Update sample launch * Fix cpplint @@ -1043,10 +1053,10 @@ Changelog for package autoware_map_loader * Add isPcdFile * Fix pre-commit * Use icPcdFile when giving file of pcd - * Feature/add virtual traffic light planner (`#1588 `_) - * Fix deprecated constant of transient local (`#1994 `_) - * Fix lint errors in lanelet2_extension (`#2028 `_) - * add sort-package-xml hook in pre-commit (`#1881 `_) + * Feature/add virtual traffic light planner (`#1588 `_) + * Fix deprecated constant of transient local (`#1994 `_) + * Fix lint errors in lanelet2_extension (`#2028 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -1060,27 +1070,27 @@ Changelog for package autoware_map_loader * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Revert "[map_loader] modify colors for lane markers for better visualization (`#398 `_)" (`#2063 `_) + * Revert "[map_loader] modify colors for lane markers for better visualization (`#398 `_)" (`#2063 `_) This reverts commit 046dc9a770bf03fb8813ddf6aa1b2f05e9357b67. - * Fix elevation_map_loader downsample (`#2055 `_) - * Add elevation_map data dir (`#2093 `_) - * Minor fixes of map_loader's README (`#2116 `_) + * Fix elevation_map_loader downsample (`#2055 `_) + * Add elevation_map data dir (`#2093 `_) + * Minor fixes of map_loader's README (`#2116 `_) * Minor fixes of map_loader's README * Fix map_loader run command Co-authored-by: kosuke55 - * Fix elevation_map hash due to mutiple slashes of pcd path (`#2192 `_) + * Fix elevation_map hash due to mutiple slashes of pcd path (`#2192 `_) * Fix elevation_map hash due to mutiple slashes of pcd path * Use filesystem lexically_normal - * Fix broken links of images on lanelet2_extension docs (`#2206 `_) - * Add lanelet XML API (`#2262 `_) - * show traffic light id marker (`#1554 `_) (`#1678 `_) + * Fix broken links of images on lanelet2_extension docs (`#2206 `_) + * Add lanelet XML API (`#2262 `_) + * show traffic light id marker (`#1554 `_) (`#1678 `_) * show traffic light id * fix typo Co-authored-by: satoshi-ota Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota - * Feature/porting behavior path planner (`#1645 `_) - * Add behavior path planner pkg with Lane Change (`#1525 `_) + * Feature/porting behavior path planner (`#1645 `_) + * Add behavior path planner pkg with Lane Change (`#1525 `_) * add lanelet extension funcs * add planning msgs for FOA * add behavior_path_planner pkg @@ -1096,7 +1106,7 @@ Changelog for package autoware_map_loader * add build depend for behavior tree cpp * temporally disable lint test in lanelet2_extension Co-authored-by: rej55 - * Add avoidance module in behavior_path_planner (`#1528 `_) + * Add avoidance module in behavior_path_planner (`#1528 `_) * Revert "remove shide-shift & avoidance related files" This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2. * refactor findNewShiftPoint func @@ -1120,41 +1130,41 @@ Changelog for package autoware_map_loader - fix typo * fix typo Co-authored-by: Yukihiro Saito - * Replace behavior_path utilities with autoware_utils (`#1532 `_) + * Replace behavior_path utilities with autoware_utils (`#1532 `_) * replace calcDistance * replace arange * replave convertToEigenPt with autoware_utils::fromMsg * replace normalizeRadian * cosmetic change - * import `#1526 `_ into behavior path planner (`#1531 `_) - * Fix/behavior path empty path output guard (`#1536 `_) + * import `#1526 `_ into behavior path planner (`#1531 `_) + * Fix/behavior path empty path output guard (`#1536 `_) * add guard * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp - * fix lateral jerk calculation (`#1549 `_) - * fix: error handling on exception in behavior_path_planner (`#1551 `_) - * Fix ignore too steep avoidance path (`#1550 `_) + * fix lateral jerk calculation (`#1549 `_) + * fix: error handling on exception in behavior_path_planner (`#1551 `_) + * Fix ignore too steep avoidance path (`#1550 `_) * ignore too steep path * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp * parametrize lateral jerk limit * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp Co-authored-by: tkimura4 Co-authored-by: tkimura4 - * use offsetNoThrow and add error log (`#1615 `_) - * Ignore object ahead goal for avoidance (`#1618 `_) + * use offsetNoThrow and add error log (`#1615 `_) + * Ignore object ahead goal for avoidance (`#1618 `_) * Ignore object ahead goal for avoidance * Add flag * Fix position of definition of goal_pose * Fix arclength calculation * Fix position of definition of goal_pose - * fix intersection stop line (`#1636 `_) + * fix intersection stop line (`#1636 `_) * fix intersection stop line * fix typo - * add document (`#1635 `_) + * add document (`#1635 `_) * Port behavior path planner to ros2 * Apply lint * Fix typo * Fix map qos - * debug slope calculation in behavior (`#1566 `_) + * debug slope calculation in behavior (`#1566 `_) * update * update * revert change of autoware_utils @@ -1187,17 +1197,17 @@ Changelog for package autoware_map_loader Co-authored-by: Yukihiro Saito Co-authored-by: tkimura4 Co-authored-by: Takayuki Murooka - * change type of traffic light marker (SPHERE_LIST->SPHERE) (`#1789 `_) - * fix alpha (`#1797 `_) - * Feature/improve intersection detection area (`#1958 `_) + * change type of traffic light marker (SPHERE_LIST->SPHERE) (`#1789 `_) + * fix alpha (`#1797 `_) + * Feature/improve intersection detection area (`#1958 `_) * exclude ego_lanes from detection_area * add empty handling * remove unused function * Fix for uncrustify Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Apply format (`#1999 `_) + * Apply format (`#1999 `_) Fix cpplint - * Feature/expand drivable area (`#1812 `_) + * Feature/expand drivable area (`#1812 `_) * check if ego lane has adjacent lane or not * expand drivable area by using lanelet * remove unnecessary operator @@ -1210,7 +1220,7 @@ Changelog for package autoware_map_loader * update area name * disable expand by default Co-authored-by: satoshi-ota - * add shoulder road lanelets (`#2121 `_) + * add shoulder road lanelets (`#2121 `_) * add shoulder lanelets * Update map/lanelet2_extension/lib/query.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> @@ -1223,7 +1233,7 @@ Changelog for package autoware_map_loader * Update map/lanelet2_extension/lib/visualization.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * Feature/no stopping area reg element (`#2144 `_) + * Feature/no stopping area reg element (`#2144 `_) * add no stopping area to ll2 * add no stopping area visualization * add no stopping area marker to RVIZ @@ -1231,7 +1241,7 @@ Changelog for package autoware_map_loader * Update map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 - * Add document for new map format (`#1778 `_) + * Add document for new map format (`#1778 `_) * add roadside lane doc * fix typo * fix typo @@ -1241,7 +1251,7 @@ Changelog for package autoware_map_loader * add reason for new subtype definition * fix typo Co-authored-by: kyoichi - * Change formatter to clang-format and black (`#2332 `_) + * 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 @@ -1253,14 +1263,14 @@ Changelog for package autoware_map_loader * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * port lanelet2_extension (`#483 `_) + * Add COLCON_IGNORE (`#500 `_) + * port lanelet2_extension (`#483 `_) * port with auto_msgs * remove COLCON_IGNORE Co-authored-by: Takayuki Murooka - * port map loader (`#508 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) - * add readme (`#561 `_) + * port map loader (`#508 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * add readme (`#561 `_) * fix old description Co-authored-by: mitsudome-r Co-authored-by: Taichi Higashide diff --git a/map/autoware_map_loader/README.md b/map/autoware_map_loader/README.md index ec06ee4d824c7..34c87289c4e5e 100644 --- a/map/autoware_map_loader/README.md +++ b/map/autoware_map_loader/README.md @@ -22,10 +22,10 @@ NOTE: **We strongly recommend to use divided maps when using large pointcloud ma You may provide either a single .pcd file or multiple .pcd files. If you are using multiple PCD data, it MUST obey the following rules: -1. **The pointcloud map should be projected on the same coordinate defined in `map_projection_loader`**, in order to be consistent with the lanelet2 map and other packages that converts between local and geodetic coordinates. For more information, please refer to [the readme of `map_projection_loader`](https://github.com/autowarefoundation/autoware.universe/tree/main/map/autoware_map_projection_loader/README.md). +1. **The pointcloud map should be projected on the same coordinate defined in `map_projection_loader`**, in order to be consistent with the lanelet2 map and other packages that converts between local and geodetic coordinates. For more information, please refer to [the readme of `map_projection_loader`](https://github.com/autowarefoundation/autoware_universe/tree/main/map/autoware_map_projection_loader/README.md). 2. **It must be divided by straight lines parallel to the x-axis and y-axis**. The system does not support division by diagonal lines or curved lines. 3. **The division size along each axis should be equal.** -4. **The division size should be about 20m x 20m.** Particularly, care should be taken as using too large division size (for example, more than 100m) may have adverse effects on dynamic map loading features in [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_ndt_scan_matcher) and [autoware_compare_map_segmentation](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_compare_map_segmentation). +4. **The division size should be about 20m x 20m.** Particularly, care should be taken as using too large division size (for example, more than 100m) may have adverse effects on dynamic map loading features in [ndt_scan_matcher](https://github.com/autowarefoundation/autoware_universe/tree/main/localization/autoware_ndt_scan_matcher) and [autoware_compare_map_segmentation](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_compare_map_segmentation). 5. **All the split maps should not overlap with each other.** 6. **Metadata file should also be provided.** The metadata structure description is provided below. diff --git a/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml b/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml index 48f92550fe404..36115e715cff9 100644 --- a/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml +++ b/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml @@ -8,7 +8,7 @@ - + diff --git a/map/autoware_map_loader/package.xml b/map/autoware_map_loader/package.xml index 8f3578b8ddef9..81b100ce8cd45 100644 --- a/map/autoware_map_loader/package.xml +++ b/map/autoware_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_loader - 0.42.0 + 0.43.0 The autoware_map_loader package Yamato Ando Ryu Yamamoto diff --git a/map/autoware_map_projection_loader/CHANGELOG.rst b/map/autoware_map_projection_loader/CHANGELOG.rst index d68605ead277b..4875b4270366d 100644 --- a/map/autoware_map_projection_loader/CHANGELOG.rst +++ b/map/autoware_map_projection_loader/CHANGELOG.rst @@ -2,10 +2,16 @@ Changelog for package autoware_map_projection_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(map_loader): add support for local cartesian projection (`#9238 `_) +* feat(map_loader): add support for local cartesian projection (`#9238 `_) * feat(map_loader): add support for local cartesian projection to lanelet map loader * feat(map_loader): udpate readme * feat(map_loader): add support for local cartesian projection @@ -14,7 +20,7 @@ Changelog for package autoware_map_projection_loader Co-authored-by: Sebastian Zęderowski Co-authored-by: Mete Fatih Cırıt Co-authored-by: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> -* chore(autoware_map_projection_loader): show map error details (`#10151 `_) +* chore(autoware_map_projection_loader): show map error details (`#10151 `_) * show map error details * use string stream --------- @@ -22,7 +28,7 @@ Changelog for package autoware_map_projection_loader 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -31,25 +37,25 @@ Changelog for package autoware_map_projection_loader 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) +* feat(autoware_component_interface_specs_universe!): rename package (`#9753 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - map (`#9568 `_) -* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) -* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package @@ -62,8 +68,8 @@ Changelog for package autoware_map_projection_loader * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) * make lanelet2_map_visualization independent * remove unused files * remove unused package @@ -73,35 +79,35 @@ Changelog for package autoware_map_projection_loader * add autoware prefix * removed unnecessary dependency --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) * add autoware\_ prefix * add autoware\_ prefix --------- diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index c2de2f35afe1e..5f3ed7c06111a 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_projection_loader - 0.42.0 + 0.43.0 autoware_map_projection_loader package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/map/autoware_map_projection_loader/src/map_projection_loader.cpp b/map/autoware_map_projection_loader/src/map_projection_loader.cpp index 1f175c8bf21d1..c9498c099e945 100644 --- a/map/autoware_map_projection_loader/src/map_projection_loader.cpp +++ b/map/autoware_map_projection_loader/src/map_projection_loader.cpp @@ -55,7 +55,7 @@ autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & "Load " << filename << "\n" << "DEPRECATED WARNING: projector type \"local\" is deprecated." "Please use \"Local\" instead. For more info, visit " - "https://github.com/autowarefoundation/autoware.universe/blob/main/map/" + "https://github.com/autowarefoundation/autoware_universe/blob/main/map/" "map_projection_loader README.md"); msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL; } else { @@ -80,7 +80,7 @@ autoware_map_msgs::msg::MapProjectorInfo load_map_projector_info( std::cout << "DEPRECATED WARNING: Loading map projection info from lanelet2 map may soon be deleted. " "Please use map_projector_info.yaml instead. For more info, visit " - "https://github.com/autowarefoundation/autoware.universe/blob/main/map/" + "https://github.com/autowarefoundation/autoware_universe/blob/main/map/" "map_projection_loader/" "README.md" << std::endl; diff --git a/map/autoware_map_tf_generator/CHANGELOG.rst b/map/autoware_map_tf_generator/CHANGELOG.rst index ed4bc8ecb0e7e..0774c496f6aa0 100644 --- a/map/autoware_map_tf_generator/CHANGELOG.rst +++ b/map/autoware_map_tf_generator/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_map_tf_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,22 +25,22 @@ Changelog for package autoware_map_tf_generator 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - map (`#9568 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -44,9 +50,9 @@ Changelog for package autoware_map_tf_generator 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -57,7 +63,7 @@ Changelog for package autoware_map_tf_generator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) +* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) * add autoware\_ prefix * add autoware\_ prefix --------- diff --git a/map/autoware_map_tf_generator/package.xml b/map/autoware_map_tf_generator/package.xml index e93e3776710ee..a2cf3967d440b 100644 --- a/map/autoware_map_tf_generator/package.xml +++ b/map/autoware_map_tf_generator/package.xml @@ -2,7 +2,7 @@ autoware_map_tf_generator - 0.42.0 + 0.43.0 map_tf_generator package as a ROS 2 node Yamato Ando Kento Yabuuchi diff --git a/mkdocs.yaml b/mkdocs.yaml index dfaac7481d209..87478832d6857 100644 --- a/mkdocs.yaml +++ b/mkdocs.yaml @@ -3,9 +3,9 @@ # To make changes, update the source repository and follow the guidelines in its README. site_name: Autoware Universe Documentation -site_url: https://autowarefoundation.github.io/autoware.universe -repo_url: https://github.com/autowarefoundation/autoware.universe -edit_uri: https://github.com/autowarefoundation/autoware.universe/edit/main/ +site_url: https://autowarefoundation.github.io/autoware_universe +repo_url: https://github.com/autowarefoundation/autoware_universe +edit_uri: https://github.com/autowarefoundation/autoware_universe/edit/main/ docs_dir: . copyright: Copyright © 2023 The Autoware Foundation diff --git a/mkdocs_macros.py b/mkdocs_macros.py index 97f76442be491..1df423af5d60c 100644 --- a/mkdocs_macros.py +++ b/mkdocs_macros.py @@ -1,4 +1,5 @@ import json +import urllib from tabulate import tabulate @@ -70,3 +71,8 @@ def json_to_markdown(json_schema_file_path): with open(json_schema_file_path) as f: data = json.load(f) return format_json(data) + + @env.macro + def drawio(image_path): + image_url = urllib.parse.quote(f"{env.conf['site_url']}{image_path}", "") + return f"https://app.diagrams.net/?lightbox=1#U{image_url}" diff --git a/packages_above.repos b/packages_above.repos new file mode 100644 index 0000000000000..5a6f8852889df --- /dev/null +++ b/packages_above.repos @@ -0,0 +1,5 @@ +repositories: + tools/autoware_tools: + type: git + url: https://github.com/autowarefoundation/autoware_tools.git + version: main diff --git a/perception/autoware_bytetrack/CHANGELOG.rst b/perception/autoware_bytetrack/CHANGELOG.rst index db8886c2ee3bc..38ba987ca4091 100644 --- a/perception/autoware_bytetrack/CHANGELOG.rst +++ b/perception/autoware_bytetrack/CHANGELOG.rst @@ -2,12 +2,19 @@ Changelog for package autoware_bytetrack ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,62 +23,62 @@ Changelog for package autoware_bytetrack 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(autoware_bytetrack): fix bugprone-reserved-identifier (`#9647 `_) +* fix(autoware_bytetrack): fix bugprone-reserved-identifier (`#9647 `_) fix: bugprone-reserved-identifier * Contributors: Fumiya Watanabe, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* feat(bytetrack): remove unreachable code block from lapjv.h (`#9563 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* fix(autoware_bytetrack): update visualizer param path and not to set default value (`#9490 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(bytetrack): remove unreachable code block from lapjv.h (`#9563 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_bytetrack): update visualizer param path and not to set default value (`#9490 `_) fix: update visualizer param path and not to set default value -* fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (`#9513 `_) +* fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (`#9513 `_) fix: clang-diagnostic-implicit-const-int-float-conversion -* fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (`#9468 `_) +* fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (`#9468 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kotaro Uetake, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -79,13 +86,13 @@ Changelog for package autoware_bytetrack --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* 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> -* refactor(bytetrack): fix namespace and directory structure (`#8125 `_) +* refactor(bytetrack): fix namespace and directory structure (`#8125 `_) * chore: fix namespace * chore: change include name * refactor: rename perception/bytetrack to perception/autoware_bytetrack diff --git a/perception/autoware_bytetrack/README.md b/perception/autoware_bytetrack/README.md index 90116c4dae7e5..08476226c8ff6 100644 --- a/perception/autoware_bytetrack/README.md +++ b/perception/autoware_bytetrack/README.md @@ -6,7 +6,7 @@ The core algorithm, named `ByteTrack`, mainly aims to perform multi-object track Because the algorithm associates almost every detection box including ones with low detection scores, the number of false negatives is expected to decrease by using it. -[demo video](https://github.com/YoshiRi/autoware.universe/assets/3022416/40f4c158-657e-48e1-81c2-8ac39152892d) +[demo video](https://github.com/YoshiRi/autoware_universe/assets/3022416/40f4c158-657e-48e1-81c2-8ac39152892d) ## Inner-workings / Algorithms diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml index 7d1dd74eaf8ae..d3398cd1401ea 100644 --- a/perception/autoware_bytetrack/package.xml +++ b/perception/autoware_bytetrack/package.xml @@ -2,7 +2,7 @@ autoware_bytetrack - 0.42.0 + 0.43.0 ByteTrack implementation ported toward Autoware Manato HIRABAYASHI Yoshi RI @@ -15,6 +15,7 @@ cudnn_cmake_module tensorrt_cmake_module + autoware_cuda_dependency_meta autoware_cuda_utils autoware_kalman_filter autoware_perception_msgs diff --git a/perception/autoware_cluster_merger/CHANGELOG.rst b/perception/autoware_cluster_merger/CHANGELOG.rst index 70a7ade29d373..25197b89f7307 100644 --- a/perception/autoware_cluster_merger/CHANGELOG.rst +++ b/perception/autoware_cluster_merger/CHANGELOG.rst @@ -2,11 +2,17 @@ Changelog for package autoware_cluster_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -14,7 +20,7 @@ Changelog for package autoware_cluster_merger 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -26,22 +32,22 @@ Changelog for package autoware_cluster_merger 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -51,9 +57,9 @@ Changelog for package autoware_cluster_merger 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -64,13 +70,13 @@ Changelog for package autoware_cluster_merger 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 `_) -* chore(cluster_merger): add node test (`#8810 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* chore(cluster_merger): add node test (`#8810 `_) * chore(cluster_merger): add node test * fix: rename output topic --------- -* refactor(cluster_merger): remove unused variable and rename topic (`#8809 `_) -* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) +* refactor(cluster_merger): remove unused variable and rename topic (`#8809 `_) +* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) * Contributors: Esteve Fernandez, Yutaka Kondo, badai nguyen 0.26.0 (2024-04-03) diff --git a/perception/autoware_cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml index 90fdcad4bce8c..bf6c5d1f63ac3 100644 --- a/perception/autoware_cluster_merger/package.xml +++ b/perception/autoware_cluster_merger/package.xml @@ -2,7 +2,7 @@ autoware_cluster_merger - 0.42.0 + 0.43.0 The ROS 2 cluster merger package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_compare_map_segmentation/CHANGELOG.rst b/perception/autoware_compare_map_segmentation/CHANGELOG.rst index 039d2b56baa28..cca2fa9119c9e 100644 --- a/perception/autoware_compare_map_segmentation/CHANGELOG.rst +++ b/perception/autoware_compare_map_segmentation/CHANGELOG.rst @@ -2,15 +2,30 @@ Changelog for package autoware_compare_map_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(compare_map_filter): deadlock bug fix (`#10222 `_) + * fix(compare_map_filter): deadlock bug fix + * fix: change to lock_guard + * fix: CI error + * reduce scope of mutex + * refactor + * chore: refactor + * fix: add missing mutex for map_grid_size_x + --------- +* Contributors: Hayato Mizushima, Yutaka Kondo, badai nguyen + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +34,7 @@ Changelog for package autoware_compare_map_segmentation 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_compare_map_segmentation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9869 `_) +* feat(autoware_compare_map_segmentation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9869 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_compare_map_segmentation Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Contributors: Fumiya Watanabe, Vishal Chauhan @@ -27,60 +42,60 @@ Changelog for package autoware_compare_map_segmentation 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(compare_map_segmentation): rename defined type (`#9181 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(compare_map_segmentation): rename defined type (`#9181 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(compare_map_segmentation): add maintainer (`#9371 `_) -* fix(compare_map_segmentation): timer period mismatched with parameter (`#9259 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(compare_map_segmentation): add maintainer (`#9371 `_) +* fix(compare_map_segmentation): timer period mismatched with parameter (`#9259 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) +* fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, badai nguyen 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) +* fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo 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 `_) -* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) * refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation * style(pre-commit): autofix * include message_filters as SYSTEM * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(compare_map_segmentation): add missing mutex lock (`#9097 `_) +* fix(compare_map_segmentation): add missing mutex lock (`#9097 `_) * fix(compare_map_segmentation): missing mutux * chore: rename mutex\_ * fix: remove unnecessary mutex @@ -91,7 +106,7 @@ Changelog for package autoware_compare_map_segmentation * fix: memory ordering * fix: replace all static_map_loader_mutex\_ --------- -* fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader (`#9024 `_) +* fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader (`#9024 `_) * fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader * chore: typo * fix: launch @@ -100,34 +115,34 @@ Changelog for package autoware_compare_map_segmentation * fix: change to RCLCPP_ERROR --------- Co-authored-by: Yoshi Ri -* chore(compare_map_segmentation): add node tests (`#8907 `_) +* chore(compare_map_segmentation): add node tests (`#8907 `_) * chore(compare_map_segmentation): add test for voxel_based_compare_map_filter * feat: add test for other compare map filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_compare_map_segmentation): typo bug fix (`#8939 `_) +* fix(autoware_compare_map_segmentation): typo bug fix (`#8939 `_) fix(compare_map_filter): typo bug fix -* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8725 `_) +* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8725 `_) fix:unusedFunction -* fix(compare_map_segmentation): use squared distance to compare threshold (`#8744 `_) +* fix(compare_map_segmentation): use squared distance to compare threshold (`#8744 `_) fix: use square distance to compare threshold -* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8565 `_) +* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8565 `_) fix:unusedFunction -* fix(autoware_compare_map_segmentation): fix cppcheck warnings of functionStatic (`#8263 `_) +* fix(autoware_compare_map_segmentation): fix cppcheck warnings of functionStatic (`#8263 `_) * fix: deal with functionStatic warnings * fix: deal with functionStatic warnings * fix: remove unnecessary const * fix: build error --------- -* fix(autoware_compare_map_segmentation): fix uninitMemberVar (`#8338 `_) +* fix(autoware_compare_map_segmentation): fix uninitMemberVar (`#8338 `_) fix:uninitMemberVar -* fix(autoware_compare_map_segmentation): fix passedByValue (`#8233 `_) +* fix(autoware_compare_map_segmentation): fix passedByValue (`#8233 `_) fix:passedByValue -* fix(autoware_compare_map_segmentation): fix redundantInitialization warning (`#8226 `_) -* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) -* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* fix(autoware_compare_map_segmentation): fix redundantInitialization warning (`#8226 `_) +* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) +* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- diff --git a/perception/autoware_compare_map_segmentation/package.xml b/perception/autoware_compare_map_segmentation/package.xml index 4a13c93cfc456..8094faa87d51c 100644 --- a/perception/autoware_compare_map_segmentation/package.xml +++ b/perception/autoware_compare_map_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_compare_map_segmentation - 0.42.0 + 0.43.0 The ROS 2 autoware_compare_map_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp index 91f7add844c74..f27bf982978f2 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp @@ -72,39 +72,40 @@ bool DistanceBasedStaticMapLoader::is_close_to_map( } return true; } - bool DistanceBasedDynamicMapLoader::is_close_to_map( const pcl::PointXYZ & point, const double distance_threshold) { - if (current_voxel_grid_dict_.size() == 0) { - return false; - } - if (!isFinite(point)) { - return false; - } + std::shared_ptr> map_cell_kdtree; + { + std::lock_guard lock(dynamic_map_loader_mutex_); + if (current_voxel_grid_dict_.size() == 0) { + return false; + } + if (!isFinite(point)) { + return false; + } - const int map_grid_index = static_cast( - std::floor((point.x - origin_x_) / map_grid_size_x_) + - map_grids_x_ * std::floor((point.y - origin_y_) / map_grid_size_y_)); + const int map_grid_index = static_cast( + std::floor((point.x - origin_x_) / map_grid_size_x_) + + map_grids_x_ * std::floor((point.y - origin_y_) / map_grid_size_y_)); - if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { - return false; - } - if (current_voxel_grid_array_.at(map_grid_index) != nullptr) { - if (current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree == nullptr) { + if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { return false; } - std::vector nn_indices(1); - std::vector nn_distances(1); - if (!current_voxel_grid_array_.at(map_grid_index) - ->map_cell_kdtree->nearestKSearch(point, 1, nn_indices, nn_distances)) { + const auto & current_voxel_grid = current_voxel_grid_array_.at(map_grid_index); + if (current_voxel_grid == nullptr) { return false; } - if (nn_distances[0] <= distance_threshold) { - return true; - } + map_cell_kdtree = current_voxel_grid->map_cell_kdtree; } - return false; + + std::vector nn_indices(1); + std::vector nn_distances(1); + if (!map_cell_kdtree->nearestKSearch(point, 1, nn_indices, nn_distances)) { + return false; + } + + return nn_distances[0] <= distance_threshold; } DistanceBasedCompareMapFilterComponent::DistanceBasedCompareMapFilterComponent( diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp index 33c9d9ff3c788..1b2b2dfe1294f 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp @@ -65,8 +65,11 @@ class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader inline void addMapCellAndFilter( const autoware_map_msgs::msg::PointCloudMapCellWithID & map_cell_to_add) override { - map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; - map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; + { + std::lock_guard lock(dynamic_map_loader_mutex_); + map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; + map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; + } pcl::PointCloud map_cell_pc_tmp; pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp index bfb0027b4e0a0..ec20a3c952d0c 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp @@ -45,29 +45,30 @@ bool VoxelBasedApproximateStaticMapLoader::is_close_to_map( bool VoxelBasedApproximateDynamicMapLoader::is_close_to_map( const pcl::PointXYZ & point, [[maybe_unused]] const double distance_threshold) { - if (current_voxel_grid_dict_.size() == 0) { - return false; - } + VoxelGridPointXYZ map_cell_voxel_grid; + { + std::lock_guard lock(dynamic_map_loader_mutex_); + if (current_voxel_grid_dict_.size() == 0) { + return false; + } - const int map_grid_index = static_cast( - std::floor((point.x - origin_x_) / map_grid_size_x_) + - map_grids_x_ * std::floor((point.y - origin_y_) / map_grid_size_y_)); + const int map_grid_index = static_cast( + std::floor((point.x - origin_x_) / map_grid_size_x_) + + map_grids_x_ * std::floor((point.y - origin_y_) / map_grid_size_y_)); - if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { - return false; - } - if (current_voxel_grid_array_.at(map_grid_index) != nullptr) { - const int index = current_voxel_grid_array_.at(map_grid_index) - ->map_cell_voxel_grid.getCentroidIndexAt( - current_voxel_grid_array_.at(map_grid_index) - ->map_cell_voxel_grid.getGridCoordinates(point.x, point.y, point.z)); - if (index == -1) { + if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { return false; - } else { - return true; } + const auto & current_voxel_grid = current_voxel_grid_array_.at(map_grid_index); + if (current_voxel_grid == nullptr) { + return false; + } + map_cell_voxel_grid = current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid; } - return false; + + const int index = map_cell_voxel_grid.getCentroidIndexAt( + map_cell_voxel_grid.getGridCoordinates(point.x, point.y, point.z)); + return (index != -1); } VoxelBasedApproximateCompareMapFilterComponent::VoxelBasedApproximateCompareMapFilterComponent( diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp index a94ae92671caf..2bcd4ba7c2fc2 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp @@ -80,25 +80,29 @@ bool VoxelDistanceBasedStaticMapLoader::is_close_to_map( bool VoxelDistanceBasedDynamicMapLoader::is_close_to_map( const pcl::PointXYZ & point, const double distance_threshold) { - if (current_voxel_grid_dict_.size() == 0) { - return false; - } + std::shared_ptr> map_cell_kdtree; + VoxelGridPointXYZ map_cell_voxel_grid; + { + std::lock_guard lock(dynamic_map_loader_mutex_); + if (current_voxel_grid_dict_.size() == 0) { + return false; + } - const int map_grid_index = static_cast( - std::floor((point.x - origin_x_) / map_grid_size_x_) + - map_grids_x_ * std::floor((point.y - origin_y_) / map_grid_size_y_)); + const int map_grid_index = static_cast( + std::floor((point.x - origin_x_) / map_grid_size_x_) + + map_grids_x_ * std::floor((point.y - origin_y_) / map_grid_size_y_)); - if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { - return false; - } - if ( - current_voxel_grid_array_.at(map_grid_index) != nullptr && - is_close_to_neighbor_voxels( - point, distance_threshold, current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid, - current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree)) { - return true; + if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { + return false; + } + if (current_voxel_grid_array_.at(map_grid_index) == nullptr) { + return false; + } + map_cell_voxel_grid = current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid; + map_cell_kdtree = current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree; } - return false; + return is_close_to_neighbor_voxels( + point, distance_threshold, map_cell_voxel_grid, map_cell_kdtree); } VoxelDistanceBasedCompareMapFilterComponent::VoxelDistanceBasedCompareMapFilterComponent( diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp index 9fb81aa675655..25b30efb1b2c9 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp @@ -71,8 +71,11 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader inline void addMapCellAndFilter( const autoware_map_msgs::msg::PointCloudMapCellWithID & map_cell_to_add) override { - map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; - map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; + { + std::lock_guard lock(dynamic_map_loader_mutex_); + map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; + map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; + } pcl::PointCloud map_cell_pc_tmp; pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index e93b2097e583e..99a58eace1002 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -325,15 +325,18 @@ VoxelGridDynamicMapLoader::VoxelGridDynamicMapLoader( } void VoxelGridDynamicMapLoader::onEstimatedPoseCallback(nav_msgs::msg::Odometry::ConstSharedPtr msg) { + std::lock_guard lock(dynamic_map_loader_mutex_); current_position_ = msg->pose.pose.position; } bool VoxelGridDynamicMapLoader::is_close_to_next_map_grid( - const pcl::PointXYZ & point, const int current_map_grid_index, const double distance_threshold) + const pcl::PointXYZ & point, const int current_map_grid_index, const double distance_threshold, + const double origin_x, const double origin_y, const double map_grid_size_x, + const double map_grid_size_y, const int map_grids_x) { int neighbor_map_grid_index = static_cast( - std::floor((point.x - origin_x_) / map_grid_size_x_) + - map_grids_x_ * std::floor((point.y - origin_y_) / map_grid_size_y_)); - + std::floor((point.x - origin_x) / map_grid_size_x) + + map_grids_x * std::floor((point.y - origin_y) / map_grid_size_y)); + std::lock_guard lock(dynamic_map_loader_mutex_); if ( static_cast(neighbor_map_grid_index) >= current_voxel_grid_array_.size() || neighbor_map_grid_index == current_map_grid_index || @@ -352,49 +355,58 @@ bool VoxelGridDynamicMapLoader::is_close_to_next_map_grid( bool VoxelGridDynamicMapLoader::is_close_to_map( const pcl::PointXYZ & point, const double distance_threshold) { - if (current_voxel_grid_dict_.size() == 0) { - return false; - } - - // Compare point with map grid that point belong to - - int map_grid_index = static_cast( - std::floor((point.x - origin_x_) / map_grid_size_x_) + - map_grids_x_ * std::floor((point.y - origin_y_) / map_grid_size_y_)); - - if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { - return false; - } - if ( - current_voxel_grid_array_.at(map_grid_index) != nullptr && - is_close_to_neighbor_voxels( - point, distance_threshold, current_voxel_grid_array_.at(map_grid_index)->map_cell_pc_ptr, - current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid)) { - return true; + double origin_x, origin_y, map_grid_size_x, map_grid_size_y; + int map_grids_x, map_grid_index; + { + std::lock_guard lock(dynamic_map_loader_mutex_); + if (current_voxel_grid_dict_.size() == 0) { + return false; + } + origin_x = origin_x_; + origin_y = origin_y_; + map_grid_size_x = map_grid_size_x_; + map_grid_size_y = map_grid_size_y_; + map_grids_x = map_grids_x_; + // Compare point with map grid that point belong to + + map_grid_index = static_cast( + std::floor((point.x - origin_x) / map_grid_size_x) + + map_grids_x * std::floor((point.y - origin_y) / map_grid_size_y)); + + if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { + return false; + } + if ( + current_voxel_grid_array_.at(map_grid_index) != nullptr && + is_close_to_neighbor_voxels( + point, distance_threshold, current_voxel_grid_array_.at(map_grid_index)->map_cell_pc_ptr, + current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid)) { + return true; + } } // Compare point with the neighbor map cells if point close to map cell boundary if (is_close_to_next_map_grid( pcl::PointXYZ(point.x - distance_threshold, point.y, point.z), map_grid_index, - distance_threshold)) { + distance_threshold, origin_x, origin_y, map_grid_size_x, map_grid_size_y, map_grids_x)) { return true; } if (is_close_to_next_map_grid( pcl::PointXYZ(point.x + distance_threshold, point.y, point.z), map_grid_index, - distance_threshold)) { + distance_threshold, origin_x, origin_y, map_grid_size_x, map_grid_size_y, map_grids_x)) { return true; } if (is_close_to_next_map_grid( pcl::PointXYZ(point.x, point.y - distance_threshold, point.z), map_grid_index, - distance_threshold)) { + distance_threshold, origin_x, origin_y, map_grid_size_x, map_grid_size_y, map_grids_x)) { return true; } if (is_close_to_next_map_grid( pcl::PointXYZ(point.x, point.y + distance_threshold, point.z), map_grid_index, - distance_threshold)) { + distance_threshold, origin_x, origin_y, map_grid_size_x, map_grid_size_y, map_grids_x)) { return true; } @@ -402,27 +414,29 @@ bool VoxelGridDynamicMapLoader::is_close_to_map( } void VoxelGridDynamicMapLoader::timer_callback() { - if (current_position_ == std::nullopt) { - return; + std::optional current_position; + { + std::lock_guard lock(dynamic_map_loader_mutex_); + current_position = current_position_; } - if (last_updated_position_ == std::nullopt) { - request_update_map(current_position_.value()); - last_updated_position_ = current_position_; + + if (current_position == std::nullopt) { return; } - - if (should_update_map()) { - last_updated_position_ = current_position_; - request_update_map((current_position_.value())); - last_updated_position_ = current_position_; + if ( + last_updated_position_ == std::nullopt || + should_update_map( + current_position.value(), last_updated_position_.value(), map_update_distance_threshold_)) { + request_update_map(current_position.value()); } + last_updated_position_ = current_position; } -bool VoxelGridDynamicMapLoader::should_update_map() const +bool VoxelGridDynamicMapLoader::should_update_map( + const geometry_msgs::msg::Point & current_point, const geometry_msgs::msg::Point & last_point, + const double map_update_distance_threshold) { - if ( - distance2D(current_position_.value(), last_updated_position_.value()) > - map_update_distance_threshold_) { + if (distance2D(current_point, last_point) > map_update_distance_threshold) { return true; } return false; diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp index 3685008ffc4fe..69a1846677f4d 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp @@ -190,18 +190,25 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader void onEstimatedPoseCallback(nav_msgs::msg::Odometry::ConstSharedPtr msg); void timer_callback(); - bool should_update_map() const; + static bool should_update_map( + const geometry_msgs::msg::Point & current_point, const geometry_msgs::msg::Point & last_point, + const double map_update_distance_threshold); void request_update_map(const geometry_msgs::msg::Point & position); bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; /** \brief Check if point close to map pointcloud in the */ bool is_close_to_next_map_grid( - const pcl::PointXYZ & point, const int current_map_grid_index, const double distance_threshold); + const pcl::PointXYZ & point, const int current_map_grid_index, const double distance_threshold, + const double origin_x, const double origin_y, const double map_grid_size_x, + const double map_grid_size_y, const int map_grids_x); inline pcl::PointCloud getCurrentDownsampledMapPc() { pcl::PointCloud output; std::lock_guard lock(dynamic_map_loader_mutex_); for (const auto & kv : current_voxel_grid_dict_) { + if (kv.second.map_cell_pc_ptr == nullptr) { + continue; + } output = output + *(kv.second.map_cell_pc_ptr); } return output; @@ -235,6 +242,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader /** Update loaded map grid array for fast searching*/ virtual inline void updateVoxelGridArray() { + std::lock_guard lock(dynamic_map_loader_mutex_); origin_x_ = std::floor((current_position_.value().x - map_loader_radius_) / map_grid_size_x_) * map_grid_size_x_ + origin_x_remainder_; @@ -253,7 +261,6 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader current_voxel_grid_array_.assign( map_grids_x_ * map_grid_size_y_, std::make_shared()); - std::lock_guard lock(dynamic_map_loader_mutex_); for (const auto & kv : current_voxel_grid_dict_) { int index = static_cast( std::floor((kv.second.min_b_x - origin_x_) / map_grid_size_x_) + @@ -275,19 +282,21 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader virtual inline void addMapCellAndFilter( const autoware_map_msgs::msg::PointCloudMapCellWithID & map_cell_to_add) { - map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; - map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; - if (map_grid_size_x_ > max_map_grid_size_ || map_grid_size_y_ > max_map_grid_size_) { - RCLCPP_ERROR( - logger_, - "Map was not split or split map grid size is too large. Split map with grid size smaller " - "than %f", - max_map_grid_size_); - } - - origin_x_remainder_ = std::remainder(map_cell_to_add.metadata.min_x, map_grid_size_x_); - origin_y_remainder_ = std::remainder(map_cell_to_add.metadata.min_y, map_grid_size_y_); + { + std::lock_guard lock(dynamic_map_loader_mutex_); + map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; + map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; + if (map_grid_size_x_ > max_map_grid_size_ || map_grid_size_y_ > max_map_grid_size_) { + RCLCPP_ERROR( + logger_, + "Map was not split or split map grid size is too large. Split map with grid size smaller " + "than %f", + max_map_grid_size_); + } + origin_x_remainder_ = std::remainder(map_cell_to_add.metadata.min_x, map_grid_size_x_); + origin_y_remainder_ = std::remainder(map_cell_to_add.metadata.min_y, map_grid_size_y_); + } pcl::PointCloud map_cell_pc_tmp; pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); diff --git a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst index 192cdadce9264..afeeba1a3b2c6 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst +++ b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst @@ -2,11 +2,48 @@ Changelog for package autoware_crosswalk_traffic_light_estimator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* chore(perception): refactor perception launch (`#10186 `_) + * fundamental change + * style(pre-commit): autofix + * fix typo + * fix params and modify some packages + * pre-commit + * fix + * fix spell check + * fix typo + * integrate model and label path + * style(pre-commit): autofix + * for pre-commit + * run pre-commit + * for awsim + * for simulatior + * style(pre-commit): autofix + * fix grammer in launcher + * add schema for yolox_tlr + * style(pre-commit): autofix + * fix file name + * fix + * rename + * modify arg name to + * fix typo + * change param name + * style(pre-commit): autofix + * chore + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -14,7 +51,7 @@ Changelog for package autoware_crosswalk_traffic_light_estimator 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -23,8 +60,8 @@ Changelog for package autoware_crosswalk_traffic_light_estimator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_crosswalk_traffic_light_estimator)!: tier4_debug_msgs changes to autoware_internal_debug_msgs in autoware_crosswalk_traffic_light_estimator (`#9870 `_) -* chore(autoware_crosswalk_traffic_light_estimator): fix docs (`#9822 `_) +* feat(autoware_crosswalk_traffic_light_estimator)!: tier4_debug_msgs changes to autoware_internal_debug_msgs in autoware_crosswalk_traffic_light_estimator (`#9870 `_) +* chore(autoware_crosswalk_traffic_light_estimator): fix docs (`#9822 `_) * fix docs * fix docs * add tlr output image @@ -36,7 +73,7 @@ Changelog for package autoware_crosswalk_traffic_light_estimator * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_crosswalk_traffic_light_estimator): overwrite invalid detection result (`#9667 `_) +* feat(autoware_crosswalk_traffic_light_estimator): overwrite invalid detection result (`#9667 `_) * add code in order to check invalid detection * style(pre-commit): autofix --------- @@ -46,27 +83,27 @@ Changelog for package autoware_crosswalk_traffic_light_estimator 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -77,13 +114,13 @@ Changelog for package autoware_crosswalk_traffic_light_estimator 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -94,15 +131,15 @@ Changelog for package autoware_crosswalk_traffic_light_estimator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_crosswalk_traffic_light_estimator): fix constVariableReference (`#8055 `_) +* fix(autoware_crosswalk_traffic_light_estimator): fix constVariableReference (`#8055 `_) fix:constVariableReference -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) +* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) Fixed a mistake when adding prefixes -* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) * add prefix to the codes change dir name update @@ -113,7 +150,7 @@ Changelog for package autoware_crosswalk_traffic_light_estimator * restore * poi --------- -* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) +* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) * add prefix * Contributors: Kosuke Takeuchi, SakodaShintaro, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, kobayu858 diff --git a/perception/autoware_crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml b/perception/autoware_crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml index 2e1437ecd7d93..b8af1404e1e4c 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml +++ b/perception/autoware_crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml @@ -11,13 +11,17 @@ limitations under the License. --> - + + + + + - - - - - + + + + + diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml index bb346607f633e..f90695ec143a8 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml +++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml @@ -1,7 +1,7 @@ autoware_crosswalk_traffic_light_estimator - 0.42.0 + 0.43.0 The autoware_crosswalk_traffic_light_estimator package Satoshi Ota diff --git a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst index a1742c0a46ad5..76e032f418694 100644 --- a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst +++ b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_detected_object_feature_remover ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,22 +28,22 @@ Changelog for package autoware_detected_object_feature_remover 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package autoware_detected_object_feature_remover 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,13 +66,13 @@ Changelog for package autoware_detected_object_feature_remover 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(autoware_detected_object_feature_remover): add unit testing for the node (`#8735 `_) +* test(autoware_detected_object_feature_remover): add unit testing for the node (`#8735 `_) * test: add unit testing for the node * test: update to run node testings with `ROS_DOMAIN_ID` isolation --------- -* chore(autoware_deteted_object_feature_remover): add code owners (`#8962 `_) +* chore(autoware_deteted_object_feature_remover): add code owners (`#8962 `_) Add yoshiri and kotaro as code owners of feature remover -* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) refactor(detected_object_feature_remover): add package name prefix of autoware\_ * Contributors: Kotaro Uetake, Yoshi Ri, Yutaka Kondo, badai nguyen diff --git a/perception/autoware_detected_object_feature_remover/package.xml b/perception/autoware_detected_object_feature_remover/package.xml index ce83411f62543..f2f8466671ca1 100644 --- a/perception/autoware_detected_object_feature_remover/package.xml +++ b/perception/autoware_detected_object_feature_remover/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_feature_remover - 0.42.0 + 0.43.0 The autoware_detected_object_feature_remover package Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_detected_object_validation/CHANGELOG.rst b/perception/autoware_detected_object_validation/CHANGELOG.rst index a2a42bf768fda..81b7d0974cd30 100644 --- a/perception/autoware_detected_object_validation/CHANGELOG.rst +++ b/perception/autoware_detected_object_validation/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_detected_object_validation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix(tier4_perception_launch): add missing exec_depend (`#10130 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix(tier4_perception_launch): add missing exec_depend (`#10130 `_) * fix(tier4_perception_launch): add missing exec_depend * add exec_depend for perception --------- Co-authored-by: Taekjin LEE -* chore: refine maintainer list (`#10110 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -19,7 +25,7 @@ Changelog for package autoware_detected_object_validation 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -28,7 +34,7 @@ Changelog for package autoware_detected_object_validation 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_detected_object_validation): add height filter in lanelet filtering (`#10003 `_) +* feat(autoware_detected_object_validation): add height filter in lanelet filtering (`#10003 `_) * feat: add height filter param * feat: use ego base height * fix: build error @@ -37,10 +43,10 @@ Changelog for package autoware_detected_object_validation * docs: update README and lanelet filter * fix: do not getTransform when flag is off --------- -* feat(autoware_detected_object_validation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9871 `_) +* feat(autoware_detected_object_validation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9871 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_detected_object_validation Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* feat(autoware_detected_object_validation): set validate distance in the obstacle pointcloud based validator (`#9663 `_) +* feat(autoware_detected_object_validation): set validate distance in the obstacle pointcloud based validator (`#9663 `_) * chore: add validate_max_distance_m parameter for obstacle_pointcloud_based_validator * chore: optimize object distance validation in obstacle_pointcloud_validator * chore: add validate_max_distance_m parameter for obstacle_pointcloud_based_validator @@ -50,18 +56,18 @@ Changelog for package autoware_detected_object_validation 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* feat(object_lanelet_filter): add configurable margin for object lanel… (`#9240 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* feat(object_lanelet_filter): add configurable margin for object lanel… (`#9240 `_) * feat(object_lanelet_filter): add configurable margin for object lanelet filter modified: perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp * feat(object_lanelet_filter): add condition to check wheter polygon is empty in debug mode @@ -82,13 +88,13 @@ Changelog for package autoware_detected_object_validation * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) fix: bugprone-incorrect-roundings -* fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) +* fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) fix: clang-c-error -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -99,13 +105,13 @@ Changelog for package autoware_detected_object_validation 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) fix: bugprone-incorrect-roundings -* fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) +* fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) fix: clang-c-error -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -116,8 +122,8 @@ Changelog for package autoware_detected_object_validation 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 `_) -* refactor(detected_object_validation): rework parameters (`#7750 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(detected_object_validation): rework parameters (`#7750 `_) * refactor(detected_object_validation): rework parameters * style(pre-commit): autofix * Update perception/detected_object_validation/schema/object_lanelet_filter.schema.json @@ -133,13 +139,13 @@ Changelog for package autoware_detected_object_validation * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_detected_object_validation): fix functionStatic (`#8482 `_) +* fix(autoware_detected_object_validation): fix functionStatic (`#8482 `_) fix:functionStatic -* fix(autoware_detected_object_validation): fix cppcheck warnings of functionStatic (`#8256 `_) +* fix(autoware_detected_object_validation): fix cppcheck warnings of functionStatic (`#8256 `_) fix: deal with functionStatic warnings -* fix(autoware_detected_object_validation): fix functionConst (`#8285 `_) +* fix(autoware_detected_object_validation): fix functionConst (`#8285 `_) fix: functionConst -* perf(autoware_detected_object_validation): reduce lanelet_filter processing time (`#8240 `_) +* perf(autoware_detected_object_validation): reduce lanelet_filter processing time (`#8240 `_) * add local r-tree for fast searching change to _func\_\_ add more debug @@ -157,7 +163,7 @@ Changelog for package autoware_detected_object_validation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter @@ -167,7 +173,7 @@ Changelog for package autoware_detected_object_validation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) refactor: rename detected_object_validation to autoware_detected_object_validation * Contributors: Batuhan Beytekin, Esteve Fernandez, Hayate TOBA, Masaki Baba, Taekjin LEE, Yoshi Ri, Yutaka Kondo, kobayu858, taisa1 diff --git a/perception/autoware_detected_object_validation/package.xml b/perception/autoware_detected_object_validation/package.xml index bc1c3a9454d2d..e6f6c02910b0f 100644 --- a/perception/autoware_detected_object_validation/package.xml +++ b/perception/autoware_detected_object_validation/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_validation - 0.42.0 + 0.43.0 The ROS 2 detected_object_validation package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_detection_by_tracker/CHANGELOG.rst b/perception/autoware_detection_by_tracker/CHANGELOG.rst index 777cf376e718d..7be7cc00cd0fe 100644 --- a/perception/autoware_detection_by_tracker/CHANGELOG.rst +++ b/perception/autoware_detection_by_tracker/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_detection_by_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,28 +25,28 @@ Changelog for package autoware_detection_by_tracker 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9880 `_) +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9880 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_detection_by_tracker Co-authored-by: Taekjin LEE * Contributors: Fumiya Watanabe, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -50,9 +56,9 @@ Changelog for package autoware_detection_by_tracker 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -63,33 +69,33 @@ Changelog for package autoware_detection_by_tracker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) +* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) * add object based corrector * apply cppcheck suggestion * fix typo --------- Co-authored-by: Taekjin LEE -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_detection_by_tracker): fix cppcheck warning of functionStatic (`#8257 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_detection_by_tracker): fix cppcheck warning of functionStatic (`#8257 `_) fix: deal with functionStatic warnings Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix * fix: cmake --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_detection_by_tracker): fix funcArgNamesDifferent (`#8076 `_) +* fix(autoware_detection_by_tracker): fix funcArgNamesDifferent (`#8076 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) * refactor(euclidean_cluster): add package name prefix of autoware\_ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) +* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) * Contributors: Esteve Fernandez, Masaki Baba, Yutaka Kondo, badai nguyen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml index 4e64fc76167c1..e7d515a2a28e7 100644 --- a/perception/autoware_detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -2,7 +2,7 @@ autoware_detection_by_tracker - 0.42.0 + 0.43.0 The ROS 2 autoware_detection_by_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_elevation_map_loader/CHANGELOG.rst b/perception/autoware_elevation_map_loader/CHANGELOG.rst index b550ca4b669a0..1a811ffa460a3 100644 --- a/perception/autoware_elevation_map_loader/CHANGELOG.rst +++ b/perception/autoware_elevation_map_loader/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_elevation_map_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(elevation_map_loader): add grid_map_rviz_plugin to dependency (`#10137 `_) -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(elevation_map_loader): add grid_map_rviz_plugin to dependency (`#10137 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -23,22 +29,22 @@ Changelog for package autoware_elevation_map_loader 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(autoware_elevation_map_loader): fix clang-diagnostic-format-security (`#9492 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_elevation_map_loader): fix clang-diagnostic-format-security (`#9492 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -48,9 +54,9 @@ Changelog for package autoware_elevation_map_loader 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -61,10 +67,10 @@ Changelog for package autoware_elevation_map_loader 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 `_) -* fix(autoware_elevation_map_loader): fix functionConst (`#8293 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(autoware_elevation_map_loader): fix functionConst (`#8293 `_) fix: functionConst -* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) * refactor: add namespace, remove unused dependencies, file structure chore: remove unused dependencies style(pre-commit): autofix diff --git a/perception/autoware_elevation_map_loader/package.xml b/perception/autoware_elevation_map_loader/package.xml index 2b472ba50e789..90b9aa4634292 100644 --- a/perception/autoware_elevation_map_loader/package.xml +++ b/perception/autoware_elevation_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_elevation_map_loader - 0.42.0 + 0.43.0 The autoware_elevation_map_loader package Kosuke Takeuchi Taichi Higashide diff --git a/perception/autoware_euclidean_cluster/CHANGELOG.rst b/perception/autoware_euclidean_cluster/CHANGELOG.rst index c1ae9a6978913..2edf58b4fcd3e 100644 --- a/perception/autoware_euclidean_cluster/CHANGELOG.rst +++ b/perception/autoware_euclidean_cluster/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_euclidean_cluster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +25,7 @@ Changelog for package autoware_euclidean_cluster 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_euclidean_cluster)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_euclidean_cluster (`#9873 `_) +* feat(autoware_euclidean_cluster)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_euclidean_cluster (`#9873 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_euclidean_cluster Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Contributors: Fumiya Watanabe, Vishal Chauhan @@ -27,52 +33,52 @@ Changelog for package autoware_euclidean_cluster 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) +* fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) fix: bugprone-misplaced-widening-cast * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) +* fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) fix: bugprone-misplaced-widening-cast * Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858 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 `_) -* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) * feat: add parameter schema for crop box * chore: fix readme * chore: remove filter.param.yaml file @@ -80,7 +86,7 @@ Changelog for package autoware_euclidean_cluster * chore: fix schema description * chore: fix description of negative param --------- -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -94,7 +100,7 @@ Changelog for package autoware_euclidean_cluster --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) * refactor(euclidean_cluster): add package name prefix of autoware\_ * style(pre-commit): autofix --------- diff --git a/perception/autoware_euclidean_cluster/package.xml b/perception/autoware_euclidean_cluster/package.xml index 548f78f216b87..04745c84cbf8f 100644 --- a/perception/autoware_euclidean_cluster/package.xml +++ b/perception/autoware_euclidean_cluster/package.xml @@ -2,7 +2,7 @@ autoware_euclidean_cluster - 0.42.0 + 0.43.0 The autoware_euclidean_cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_ground_segmentation/CHANGELOG.rst b/perception/autoware_ground_segmentation/CHANGELOG.rst index 5e602916982a7..cde0ca82a54f0 100644 --- a/perception/autoware_ground_segmentation/CHANGELOG.rst +++ b/perception/autoware_ground_segmentation/CHANGELOG.rst @@ -2,11 +2,17 @@ Changelog for package autoware_ground_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -14,7 +20,7 @@ Changelog for package autoware_ground_segmentation 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -23,32 +29,32 @@ Changelog for package autoware_ground_segmentation 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_ground_segmentation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9878 `_) +* feat(autoware_ground_segmentation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9878 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_ground_segmentation -* fix(autoware_ground_segmentation): fix bugprone-branch-clone (`#9648 `_) +* fix(autoware_ground_segmentation): fix bugprone-branch-clone (`#9648 `_) fix: bugprone-branch-clone * Contributors: Fumiya Watanabe, Vishal Chauhan, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* fix(autoware_ground_segmentation): remove unused function (`#9536 `_) -* fix(autoware_ground_segmentation): fix clang-diagnostic-inconsistent-missing-override (`#9517 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_ground_segmentation): remove unused function (`#9536 `_) +* fix(autoware_ground_segmentation): fix clang-diagnostic-inconsistent-missing-override (`#9517 `_) * fix: clang-diagnostic-inconsistent-missing-override * fix: pre-commit error --------- -* feat(autoware_ground_segmentation): grid data structure revision for efficiency improvement (`#9297 `_) +* feat(autoware_ground_segmentation): grid data structure revision for efficiency improvement (`#9297 `_) * fix: replace point index to data index * feat: Use emplace_back instead of push_back for adding gnd_grids in node.cpp * fix: prep for non-sorted grid process @@ -136,9 +142,9 @@ Changelog for package autoware_ground_segmentation Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -148,9 +154,9 @@ Changelog for package autoware_ground_segmentation 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -161,7 +167,7 @@ Changelog for package autoware_ground_segmentation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_ground_segmentation): implementing linear least square fitting for local gradient calculation (`#9116 `_) +* feat(autoware_ground_segmentation): implementing linear least square fitting for local gradient calculation (`#9116 `_) * refactor: calculate local ground gradient in classifyPointCloudGridScan Calculate the local ground gradient by fitting a line to the ground grids in the classifyPointCloudGridScan function. This improves the accuracy of the gradient calculation and ensures more precise extrapolation of the ground height. * refactor: calculate local ground gradient in classifyPointCloudGridScan @@ -172,7 +178,7 @@ Changelog for package autoware_ground_segmentation * refactor: fix ground gradient calculation in checkContinuousGndGrid function --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_ground_segmentation): fix scan ground filter logic (`#9084 `_) +* fix(autoware_ground_segmentation): fix scan ground filter logic (`#9084 `_) * refactor: initialize gnd_grids in ScanGroundFilterComponent::initializeFirstGndGrids Initialize gnd_grids vector in the ScanGroundFilterComponent::initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This improves the efficiency of the function and ensures accurate grid initialization. * refactor: initialize gnd_grids vector in initializeFirstGndGrids function @@ -191,7 +197,7 @@ Changelog for package autoware_ground_segmentation * refactor: fix logic description comment --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_ground_segmentation): scan ground filter refactoring (`#9061 `_) +* chore(autoware_ground_segmentation): scan ground filter refactoring (`#9061 `_) * chore: Add comment classification logic for point cloud grid scan * chore: renamed horizontal angle to azimuth angle * chore: rename offset to data_index @@ -210,7 +216,7 @@ Changelog for package autoware_ground_segmentation * chore: reduce scope * refactor: align structure between convertPointcloud and convertPointcloudGridScan --------- -* feat(ground_segmentation): add time_keeper (`#8585 `_) +* feat(ground_segmentation): add time_keeper (`#8585 `_) * add time_keeper * add timekeeper option * add autoware_universe_utils @@ -219,17 +225,17 @@ Changelog for package autoware_ground_segmentation * remove debug code * remove some timekeeper and mod block comment --------- -* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) -* fix(ground-segmentation): missing ament_index_cpp dependency (`#8587 `_) -* fix(autoware_ground_segmentation): fix unusedFunction (`#8566 `_) +* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) +* fix(ground-segmentation): missing ament_index_cpp dependency (`#8587 `_) +* fix(autoware_ground_segmentation): fix unusedFunction (`#8566 `_) fix:unusedFunction -* fix(ground_segmentation): missing default parameters ERROR (`#8538 `_) +* fix(ground_segmentation): missing default parameters ERROR (`#8538 `_) fix(ground_segmentation): remove unused params -* fix(autoware_ground_segmentation): fix unreadVariable (`#8353 `_) +* fix(autoware_ground_segmentation): fix unreadVariable (`#8353 `_) * fix:unreadVariable * fix:unreadVariable --------- -* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) +* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) * perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners * fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic * fix(autoware_ground_segmentation): add missing TF listener @@ -239,11 +245,11 @@ Changelog for package autoware_ground_segmentation * fix(autoware_universe_utils): change checks order * doc(autoware_universe_utils): add docstring --------- -* fix(autoware_ground_segmentation): fix uninitMemberVar (`#8336 `_) +* fix(autoware_ground_segmentation): fix uninitMemberVar (`#8336 `_) fix:uninitMemberVar -* fix(autoware_ground_segmentation): fix functionConst (`#8291 `_) +* fix(autoware_ground_segmentation): fix functionConst (`#8291 `_) fix:functionConst -* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) +* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) * refactor(ground_segmentation): add package name prefix of autoware\_ * fix: update prefix cmake --------- diff --git a/perception/autoware_ground_segmentation/package.xml b/perception/autoware_ground_segmentation/package.xml index 1ffd6aa3a951f..bba63325c64fd 100644 --- a/perception/autoware_ground_segmentation/package.xml +++ b/perception/autoware_ground_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_ground_segmentation - 0.42.0 + 0.43.0 The ROS 2 autoware_ground_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst index 6c717090301f0..421f59a21dd9f 100644 --- a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst +++ b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst @@ -2,15 +2,27 @@ Changelog for package autoware_image_projection_based_fusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(segmentation_pointcloud_fusion): fix typo of defaut camera info topic (`#10272 `_) + fix(segmentation_pointcloud_fusion): typo for defaut camera info topic +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* fix(segmentation_pointcloud_fusion): set valid pointcloud field for output pointcloud (`#10196 `_) + set valid pointcloud field +* feat(autoware_image_based_projection_fusion): redesign image based projection fusion node (`#10016 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Kento Yabuuchi, Yi-Hsiang Fang (Vivid), Yutaka Kondo, badai nguyen + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* fix(autoware_image_projection_based_fusion): modify incorrect index access in pointcloud filtering for out-of-range points (`#10087 `_) +* fix(autoware_image_projection_based_fusion): modify incorrect index access in pointcloud filtering for out-of-range points (`#10087 `_) * fix(pointpainting): modify pointcloud index * style(pre-commit): autofix --------- @@ -19,7 +31,7 @@ Changelog for package autoware_image_projection_based_fusion 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -28,8 +40,8 @@ Changelog for package autoware_image_projection_based_fusion 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_image_projection_based_fusion)!: tier4_debug-msgs changed to autoware_internal_debug_msgs in autoware_image_projection_based_fusion (`#9877 `_) -* fix(image_projection_based_fusion): revise message publishers (`#9865 `_) +* feat(autoware_image_projection_based_fusion)!: tier4_debug-msgs changed to autoware_internal_debug_msgs in autoware_image_projection_based_fusion (`#9877 `_) +* fix(image_projection_based_fusion): revise message publishers (`#9865 `_) * refactor: fix condition for publishing painted pointcloud message * fix: publish output revised * feat: fix condition for publishing painted pointcloud message @@ -41,7 +53,7 @@ Changelog for package autoware_image_projection_based_fusion * feat: remove !! pointer to bool conversion --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components * style(pre-commit): autofix * style(autoware_tensorrt_common): linting @@ -69,9 +81,9 @@ Changelog for package autoware_image_projection_based_fusion Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* fix(image_projection_based_fusion): remove mutex (`#9862 `_) +* fix(image_projection_based_fusion): remove mutex (`#9862 `_) refactor: Refactor fusion_node.hpp and fusion_node.cpp for improved code organization and readability -* refactor(autoware_image_projection_based_fusion): organize 2d-detection related members (`#9789 `_) +* refactor(autoware_image_projection_based_fusion): organize 2d-detection related members (`#9789 `_) * chore: input_camera_topics\_ is only for debug * feat: fuse main message with cached roi messages in fusion_node.cpp * chore: add comments on each process step, organize methods @@ -108,9 +120,9 @@ Changelog for package autoware_image_projection_based_fusion * refactor: fix condition for publishing painted pointcloud message * fix: remove unused variable --------- -* feat(lidar_centerpoint, pointpainting): add diag publisher for max voxel size (`#9720 `_) -* feat(pointpainting_fusion): enable cloud display on image (`#9813 `_) -* feat(image_projection_based_fusion): add cache for camera projection (`#9635 `_) +* feat(lidar_centerpoint, pointpainting): add diag publisher for max voxel size (`#9720 `_) +* feat(pointpainting_fusion): enable cloud display on image (`#9813 `_) +* feat(image_projection_based_fusion): add cache for camera projection (`#9635 `_) * add camera_projection class and projection cache * style(pre-commit): autofix * fix FOV filtering @@ -143,7 +155,7 @@ Changelog for package autoware_image_projection_based_fusion Co-authored-by: Taekjin LEE Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Co-authored-by: Taekjin LEE -* feat(image_projection_based_fusion): add timekeeper (`#9632 `_) +* feat(image_projection_based_fusion): add timekeeper (`#9632 `_) * add timekeeper * chore: refactor time-keeper position * chore: bring back a missing comment @@ -155,9 +167,9 @@ Changelog for package autoware_image_projection_based_fusion 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix(lidar_centerpoint): non-maximum suppression target decision logic (`#9595 `_) +* fix(lidar_centerpoint): non-maximum suppression target decision logic (`#9595 `_) * refactor(lidar_centerpoint): optimize non-maximum suppression search distance calculation * feat(lidar_centerpoint): do not suppress if one side of the object is pedestrian * style(pre-commit): autofix @@ -170,55 +182,55 @@ Changelog for package autoware_image_projection_based_fusion fix: revert transfusion modification --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: remove max rois limit in the image projection based fusion (`#9596 `_) +* feat: remove max rois limit in the image projection based fusion (`#9596 `_) feat: remove max rois limit -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(autoware_image_projection_based_fusion): detected object roi box projection fix (`#9519 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_image_projection_based_fusion): detected object roi box projection fix (`#9519 `_) * fix: detected object roi box projection fix 1. eliminate misuse of std::numeric_limits::min() 2. fix roi range up to the image edges * fix: fix roi range calculation in RoiDetectedObjectFusionNode Improve the calculation of the region of interest (ROI) in the RoiDetectedObjectFusionNode. The previous code had an issue where the ROI range was not correctly limited to the image edges. This fix ensures that the ROI is within the image boundaries by using the correct comparison operators for the x and y coordinates. --------- -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* chore(image_projection_based_fusion): add debug for roi_pointcloud fusion (`#9481 `_) -* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9509 `_) -* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (`#9505 `_) -* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9495 `_) -* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9516 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* chore(image_projection_based_fusion): add debug for roi_pointcloud fusion (`#9481 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9509 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (`#9505 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9495 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9516 `_) fix: clang-diagnostic-inconsistent-missing-override -* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9510 `_) -* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (`#9473 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9510 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (`#9473 `_) * fix: clang-diagnostic-unused-private-field * fix: build error --------- -* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9472 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9472 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) +* fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml -* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) * fix: bugprone-misplaced-widening-cast * fix: clang-format --------- -* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) * fix: bugprone-misplaced-widening-cast * fix: clang-format --------- @@ -227,21 +239,21 @@ Changelog for package autoware_image_projection_based_fusion 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) +* fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml -* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) * fix: bugprone-misplaced-widening-cast * fix: clang-format --------- -* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) * fix: bugprone-misplaced-widening-cast * fix: clang-format --------- @@ -250,18 +262,18 @@ Changelog for package autoware_image_projection_based_fusion 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 `_) -* fix(autoware_image_projection_based_fusion): pointpainting bug fix for point projection (`#9150 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* fix(autoware_image_projection_based_fusion): pointpainting bug fix for point projection (`#9150 `_) fix: projected 2d point has 1.0 of depth -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_image_projection_based_fusion): roi cluster fusion has no existence probability update (`#8864 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_image_projection_based_fusion): roi cluster fusion has no existence probability update (`#8864 `_) fix: add existence probability update, refactoring -* fix(autoware_image_projection_based_fusion): resolve issue with segmentation pointcloud fusion node failing with multiple mask inputs (`#8769 `_) -* fix(image_projection_based_fusion): remove unused variable (`#8634 `_) +* fix(autoware_image_projection_based_fusion): resolve issue with segmentation pointcloud fusion node failing with multiple mask inputs (`#8769 `_) +* fix(image_projection_based_fusion): remove unused variable (`#8634 `_) fix: remove unused variable -* fix(autoware_image_projection_based_fusion): fix unusedFunction (`#8567 `_) +* fix(autoware_image_projection_based_fusion): fix unusedFunction (`#8567 `_) fix:unusedFunction -* fix(image_projection_based_fusion): add run length decoding for segmentation_pointcloud_fusion (`#7909 `_) +* fix(image_projection_based_fusion): add run length decoding for segmentation_pointcloud_fusion (`#7909 `_) * fix: add rle decompress * style(pre-commit): autofix * fix: use rld in tensorrt utils @@ -276,16 +288,16 @@ Changelog for package autoware_image_projection_based_fusion --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(image_projection_based_fusion): handle projection errors in image fusion nodes (`#7747 `_) +* fix(image_projection_based_fusion): handle projection errors in image fusion nodes (`#7747 `_) * fix: add check for camera distortion model * feat(utils): add const qualifier to local variables in checkCameraInfo function * style(pre-commit): autofix * chore(utils): update checkCameraInfo function to use RCLCPP_ERROR_STREAM for unsupported distortion model and coefficients size --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_image_projection_based_fusion): fix passedByValue (`#8234 `_) +* fix(autoware_image_projection_based_fusion): fix passedByValue (`#8234 `_) fix:passedByValue -* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) +* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) refactor: rename image_projection_based_fusion to autoware_image_projection_based_fusion * Contributors: Esteve Fernandez, Taekjin LEE, Yi-Hsiang Fang (Vivid), Yoshi Ri, Yutaka Kondo, badai nguyen, kobayu858 diff --git a/perception/autoware_image_projection_based_fusion/CMakeLists.txt b/perception/autoware_image_projection_based_fusion/CMakeLists.txt index 7c8160d6fe1b7..5074741808018 100644 --- a/perception/autoware_image_projection_based_fusion/CMakeLists.txt +++ b/perception/autoware_image_projection_based_fusion/CMakeLists.txt @@ -17,6 +17,8 @@ endif() # Build non-CUDA dependent nodes ament_auto_add_library(${PROJECT_NAME} SHARED src/camera_projection.cpp + src/fusion_collector.cpp + src/fusion_matching_strategy.cpp src/fusion_node.cpp src/debugger.cpp src/utils/geometry.cpp diff --git a/perception/autoware_image_projection_based_fusion/README.md b/perception/autoware_image_projection_based_fusion/README.md index dcf35e45bbd9d..ab9e1224aa1b1 100644 --- a/perception/autoware_image_projection_based_fusion/README.md +++ b/perception/autoware_image_projection_based_fusion/README.md @@ -2,81 +2,239 @@ ## Purpose -The `autoware_image_projection_based_fusion` is a package to fuse detected obstacles (bounding box or segmentation) from image and 3d pointcloud or obstacles (bounding box, cluster or segmentation). +The `autoware_image_projection_based_fusion` package is designed to enhance obstacle detection accuracy by integrating information from both image-based and LiDAR-based perception. It fuses detected obstacles — such as bounding boxes or segmentation — from 2D images with 3D point clouds or other obstacle representations, including bounding boxes, clusters, or segmentation. This fusion helps to refine obstacle classification and detection in autonomous driving applications. -## Inner-workings / Algorithms +### Fusion algorithms -### Sync Algorithm +The package provides multiple fusion algorithms, each designed for specific use cases. Below are the different fusion methods along with their descriptions and detailed documentation links: -#### matching +| Fusion Name | Description | Detail | +| ------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------ | +| roi_cluster_fusion | Assigns classification labels to LiDAR-detected clusters by matching them with Regions of Interest (ROIs) from a 2D object detector. | [link](./docs/roi-cluster-fusion.md) | +| roi_detected_object_fusion | Updates classification labels of detected objects using ROI information from a 2D object detector. | [link](./docs/roi-detected-object-fusion.md) | +| pointpainting_fusion | Augments the point cloud by painting each point with additional information from ROIs of a 2D object detector. The enriched point cloud is then processed by a 3D object detector for improved accuracy. | [link](./docs/pointpainting-fusion.md) | +| roi_pointcloud_fusion | Matching pointcloud with ROIs from a 2D object detector to detect unknown-labeled objects. | [link](./docs/roi-pointcloud-fusion.md) | +| segmentation_pointcloud_fusion | Filtering pointcloud that are belong to less interesting region which is defined by semantic or instance segmentation by 2D image segmentation. | [link](./docs/segmentation-pointcloud-fusion.md) | -The offset between each camera and the lidar is set according to their shutter timing. -After applying the offset to the timestamp, if the interval between the timestamp of pointcloud topic and the roi message is less than the match threshold, the two messages are matched. +## Inner Workings / Algorithms -![roi_sync_image1](./docs/images/roi_sync_1.png) +![fusion_algorithm](./docs/images/fusion_algorithm.drawio.svg) + +The fusion process operates on two primary types of input data: + +- **Msg3d**: This includes 3D data such as point clouds, bounding boxes, or clusters from LiDAR. +- **RoIs** (Regions of Interest): These are 2D detections or proposals from camera-based perception modules, such as object detection bounding boxes. + +Both inputs come with timestamps, which are crucial for synchronization and fusion. Since sensors operate at different frequencies and may experience network delays, a systematic approach is needed to handle their arrival, align their timestamps, and ensure reliable fusion. + +The following steps describe how the node processes these inputs, synchronizes them, and performs multi-sensor fusion. + +### Step 1: Matching and Creating a Collector + +When a Msg3d or a set of RoIs arrives, its timestamp is checked, and an offset is subtracted to determine the reference timestamp. The node then searches for an existing collector with the same reference timestamp. + +- If a matching collector is found, the incoming data is added to it. +- If no matching collector exists, a new collector is created and initialized with the reference timestamp. + +### Step 2: Triggering the Timer + +Once a collector is created, a countdown timer is started. The timeout duration depends on which message type arrived first and is defined by either `msg3d_timeout_sec` for msg3d or `rois_timeout_sec` for RoIs. + +The collector will attempt to fuse the collected 3D and 2D data either: + +- When both Msg3d and RoI data are available, or +- When the timer expires. + +If no Msg3d is received before the timer expires, the collector will discard the data without performing fusion. -current default value at autoware.universe for TIER IV Robotaxi are: - input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0] - match_threshold_ms: 30.0 +### Step 3: Fusion Process -#### fusion and timer +The fusion process consists of three main stages: +1. **Preprocessing** – Preparing the input data for fusion. +2. **Fusion** – Aligning and merging RoIs with the 3D point cloud. +3. **Postprocessing** – Refining the fused output based on the algorithm's requirements. + +The specific operations performed during these stages may vary depending on the type of fusion being applied. + +### Step 4: Publishing the Fused Result + +After the fusion process is completed, the fused output is published. The collector is then reset to an idle state, ready to process the next incoming message. + +The figure below shows how the input data is fused in different scenarios. ![roi_sync_image2](./docs/images/roi_sync_2.png) -The subscription status of the message is signed with 'O'. +## Parameters -1.if a pointcloud message is subscribed under the below condition: +All of the fusion nodes have the common parameters described in the following -| | pointcloud | roi msg 1 | roi msg 2 | roi msg 3 | -| :-----------------: | :--------: | :-------: | :-------: | :-------: | -| subscription status | | O | O | O | +{{ json_to_markdown("perception/autoware_image_projection_based_fusion/schema/fusion_common.schema.json") }} -If the roi msgs can be matched, fuse them and postprocess the pointcloud message. -Otherwise, fuse the matched roi msgs and cache the pointcloud. +### Parameter Settings -2.if a pointcloud message is subscribed under the below condition: +#### Timeout -| | pointcloud | roi msg 1 | roi msg 2 | roi msg 3 | -| :-----------------: | :--------: | :-------: | :-------: | :-------: | -| subscription status | | O | O | | +The order in which `RoIs` or the `msg3d` message arrives at the fusion node depends on your system and sensor configuration. Since the primary goal is to fuse `2D RoIs` with `msg3d` data, `msg3d` is essential for processing. -if the roi msgs can be matched, fuse them and cache the pointcloud. +If `RoIs` arrive earlier, they must wait until `msg3d` is received. You can adjust the waiting time using the `rois_timeout_sec` parameter. -3.if a pointcloud message is subscribed under the below condition: +If `msg3d` arrives first, the fusion process should proceed as quickly as possible, so the waiting time for `msg3d` (`msg3d_timeout_sec`) should be kept minimal. -| | pointcloud | roi msg 1 | roi msg 2 | roi msg 3 | -| :-----------------: | :--------: | :-------: | :-------: | :-------: | -| subscription status | O | O | O | | +#### RoIs Offsets -If the roi msg 3 is subscribed before the next pointcloud message coming or timeout, fuse it if matched, otherwise wait for the next roi msg 3. -If the roi msg 3 is not subscribed before the next pointcloud message coming or timeout, postprocess the pointcloud message as it is. +The offset between each camera and the LiDAR is determined by their shutter timing. To ensure accurate fusion, users must understand the timing offset between the `RoIs` and `msg3d`. Once this offset is known, it should be specified in the parameter `rois_timestamp_offsets`. -The timeout threshold should be set according to the postprocessing time. -E.g, if the postprocessing time is around 50ms, the timeout threshold should be set smaller than 50ms, so that the whole processing time could be less than 100ms. -current default value at autoware.universe for XX1: - timeout_ms: 50.0 +In the figure below, the LiDAR completes a full scan from the rear in 100 milliseconds. When the LiDAR scan reaches the area where the camera is facing, the camera is triggered, capturing an image with a corresponding timestamp. The `rois_timestamp_offsets` can then be calculated by subtracting the LiDAR header timestamp from the camera header timestamp. As a result, the `rois_timestamp_offsets` would be `[0.059, 0.010, 0.026, 0.042, 0.076, 0.093]`. -#### The `build_only` option +![lidar_camera_sync](./docs/images/lidar_camera_sync.svg) -The `pointpainting_fusion` node has `build_only` option to build the TensorRT engine file from the ONNX file. -Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command: +To check the header timestamp of the msg3d and RoIs, user can easily run ```bash -ros2 launch autoware_image_projection_based_fusion pointpainting_fusion.launch.xml model_name:=pointpainting model_path:=/home/autoware/autoware_data/image_projection_based_fusion model_param_path:=$(ros2 pkg prefix autoware_image_projection_based_fusion --share)/config/pointpainting.param.yaml build_only:=true +ros2 echo [topic] --header field ``` -#### Known Limits +#### Matching Strategies + +We provide two matching strategies for different scenarios: + +##### Naive Mode + +User should use this mode if the concatenation node from the Autoware point cloud preprocessor is not being used. User should also set an appropriate `threshold` value to determine whether the time interval between the `msg3d` and `RoI` messages is within an acceptable range. +If the interval is less than the match threshold, the messages are considered matched. +![roi_sync_image1](./docs/images/roi_sync_1.png) + +- Example usage: + + ```bash + matching_strategy: + type: naive + threshold: 0.05 + ``` -The rclcpp::TimerBase timer could not break a for loop, therefore even if time is out when fusing a roi msg at the middle, the program will run until all msgs are fused. +##### Advanced Mode -### Approximate camera projection +If the concatenation node from the Autoware point cloud preprocessor is being used, enable this mode. +The advanced mode parses diagnostics from the concatenation node to verify whether all point clouds have been successfully concatenated. If concatenation is incomplete, it dynamically adjusts `rois_timestamp_offsets` based on diagnostic messages. +Instead of using a fixed threshold, this mode requires setting two parameters: + +- `msg3d_noise_window` (a single value) +- `rois_timestamp_noise_window` (a vector) + +These parameters enforce stricter matching between the `RoI` messages and `msg3d` input. + +- Example usage: + + ```bash + matching_strategy: + type: advanced + msg3d_noise_window: 0.02 + rois_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01] + ``` + +#### Approximate camera projection For algorithms like `pointpainting_fusion`, the computation required to project points onto an unrectified (raw) image can be substantial. To address this, an option is provided to reduce the computational load. Set the [`approximate_camera_projection parameter`](config/fusion_common.param.yaml) to `true` for each camera (ROIs). If the corresponding `point_project_to_unrectified_image` parameter is also set to true, the projections will be pre-cached. The cached projections are calculated using a grid, with the grid size specified by the `approximation_grid_width_size` and `approximation_grid_height_size` parameters in the [configuration file](config/fusion_common.param.yaml). The centers of the grid are used as the projected points. -### Detail description of each fusion's algorithm is in the following links +## Debug and Diagnostics + +To verify whether the node has successfully fuse the msg3d or rois, the user can examine rqt or the `/diagnostics` topic using the following command: + +```bash +ros2 topic echo /diagnostics +``` + +Below is an example output when the fusion is success: + +- msg3d has a value of `True`. +- Each rois has a value of `True`. +- The `fusion_success` is `True`. +- The `level` value is `\0`. (diagnostic_msgs::msg::DiagnosticStatus::OK) + +```bash +header: + stamp: + sec: 1722492015 + nanosec: 848508777 + frame_id: '' +status: +- level: "\0" + name: 'pointpainting: pointpainting_fusion_status' + message: Fused output is published and include all rois and msg3d + hardware_id: pointpainting_fusion_checker + values: + - key: msg3d/is_fused + value: 'True' + - key: fused_timestamp + value: '1738725170.860273600' + - key: reference_timestamp_min + value: '1738725170.850771904' + - key: reference_timestamp_max + value: '1738725170.870771885' + - key: /rois0/timestamp + value: '1738725170.903310537' + - key: /rois0/is_fused + value: 'True' + - key: /rois1/timestamp + value: '1738725170.934378386' + - key: /rois1/is_fused + value: 'True' + - key: /rois2/timestamp + value: '1738725170.917550087' + - key: /rois2/is_fused + value: 'True' + - key: fusion_success + value: 'True' +``` + +Below is an example output when the fusion is failed: + +- msg3d has a value of `True`. +- Each rois has a value of `False`. +- The `fusion_success` is `False`. +- The `level` value is `\x02`. (diagnostic_msgs::msg::DiagnosticStatus::ERROR) + +```bash +header: + stamp: + sec: 1722492015 + nanosec: 848508777 + frame_id: '' +status: +- level: "\x02" + name: 'pointpainting: pointpainting_fusion_status' + message: Fused output msg is published but misses some ROIs + hardware_id: pointpainting_fusion_checker + values: + - key: msg3d/is_fused + value: 'True' + - key: fused_timestamp + value: '1738725170.860273600' + - key: reference_timestamp_min + value: '1738725170.850771904' + - key: reference_timestamp_max + value: '1738725170.870771885' + - key: /rois0/is_fused + value: 'False' + - key: /rois1/timestamp + value: '1738725170.934378386' + - key: /rois1/is_fused + value: 'True' + - key: /rois2/timestamp + value: '1738725170.917550087' + - key: /rois2/is_fused + value: 'True' + - key: fusion_success + value: 'False' +``` + +## The `build_only` option -| Fusion Name | Description | Detail | -| -------------------------- | ----------------------------------------------------------------------------------------------- | -------------------------------------------- | -| roi_cluster_fusion | Overwrite a classification label of clusters by that of ROIs from a 2D object detector. | [link](./docs/roi-cluster-fusion.md) | -| roi_detected_object_fusion | Overwrite a classification label of detected objects by that of ROIs from a 2D object detector. | [link](./docs/roi-detected-object-fusion.md) | -| pointpainting_fusion | Paint the point cloud with the ROIs from a 2D object detector and feed to a 3D object detector. | [link](./docs/pointpainting-fusion.md) | -| roi_pointcloud_fusion | Matching pointcloud with ROIs from a 2D object detector to detect unknown-labeled objects | [link](./docs/roi-pointcloud-fusion.md) | +The `pointpainting_fusion` node has `build_only` option to build the TensorRT engine file from the ONNX file. +Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command: + +```bash +ros2 launch autoware_image_projection_based_fusion pointpainting_fusion.launch.xml model_name:=pointpainting model_path:=/home/autoware/autoware_data/image_projection_based_fusion model_param_path:=$(ros2 pkg prefix autoware_image_projection_based_fusion --share)/config/pointpainting.param.yaml build_only:=true +``` diff --git a/perception/autoware_image_projection_based_fusion/config/fusion_common.param.yaml b/perception/autoware_image_projection_based_fusion/config/fusion_common.param.yaml index 86db3bad4f8f8..15d1ee7581a9e 100644 --- a/perception/autoware_image_projection_based_fusion/config/fusion_common.param.yaml +++ b/perception/autoware_image_projection_based_fusion/config/fusion_common.param.yaml @@ -1,12 +1,15 @@ /**: ros__parameters: - input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0] - timeout_ms: 70.0 - match_threshold_ms: 50.0 + # Example of how to set offset parameters (Check the readme for more information), both lidar and camera run in 10 hz. + # msg3d's header timestamp: 0.000 + # rois's header timestamp (camera 0-5): 0.059, 0.010, 0.026, 0.042, 0.076, 0.093 + # offset = rois_timestamp- msg3d_timestamp + rois_timestamp_offsets: [0.059, 0.010, 0.026, 0.042, 0.076, 0.093] + rois_timeout_sec: 0.5 + msg3d_timeout_sec: 0.05 image_buffer_size: 15 # projection setting for each ROI whether unrectify image point_project_to_unrectified_image: [false, false, false, false, false, false] - debug_mode: false filter_scope_min_x: -100.0 filter_scope_min_y: -100.0 filter_scope_min_z: -100.0 @@ -21,4 +24,16 @@ approximation_grid_cell_height: 1.0 # debug parameters + debug_mode: false + collector_debug_mode: false publish_processing_time_detail: false + + publish_previous_but_late_output_msg: false + rosbag_length: 10.0 + # matching strategy + matching_strategy: + type: advanced + msg3d_noise_window: 0.02 + rois_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01] + # type: naive + # threshold: 0.05 diff --git a/perception/autoware_image_projection_based_fusion/docs/images/fusion_algorithm.drawio.svg b/perception/autoware_image_projection_based_fusion/docs/images/fusion_algorithm.drawio.svg new file mode 100644 index 0000000000000..f16b1396b4205 --- /dev/null +++ b/perception/autoware_image_projection_based_fusion/docs/images/fusion_algorithm.drawio.svg @@ -0,0 +1,1341 @@ + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_collector.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_collector.hpp new file mode 100644 index 0000000000000..a75ee786f276b --- /dev/null +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_collector.hpp @@ -0,0 +1,115 @@ +// Copyright 2025 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. + +#pragma once + +#include "autoware/image_projection_based_fusion/camera_projection.hpp" + +#include + +#include +#include +#include +#include +#include + +namespace autoware::image_projection_based_fusion +{ +using autoware::image_projection_based_fusion::CameraProjection; + +template +class FusionNode; + +template +struct Det2dStatus +{ + // camera index + std::size_t id{0}; + // camera projection + std::shared_ptr camera_projector_ptr{nullptr}; + bool project_to_unrectified_image{false}; + bool approximate_camera_projection{false}; +}; + +struct FusionCollectorInfoBase +{ + virtual ~FusionCollectorInfoBase() = default; +}; + +struct NaiveCollectorInfo : public FusionCollectorInfoBase +{ + double timestamp; + double threshold; + + explicit NaiveCollectorInfo(double timestamp = 0.0, double threshold = 0.0) + : timestamp(timestamp), threshold(threshold) + { + } +}; + +struct AdvancedCollectorInfo : public FusionCollectorInfoBase +{ + double timestamp; + double noise_window; + + explicit AdvancedCollectorInfo(double timestamp = 0.0, double noise_window = 0.0) + : timestamp(timestamp), noise_window(noise_window) + { + } +}; + +enum class CollectorStatus { Idle, Processing, Finished }; + +template +class FusionCollector +{ +public: + FusionCollector( + std::shared_ptr> && ros2_parent_node, + std::size_t rois_number, const std::vector> & det2d_status_list, + bool debug_mode); + void process_msg3d(const typename Msg3D::ConstSharedPtr msg3d, double msg3d_timeout); + void process_rois( + const std::size_t & rois_id, const typename Msg2D::ConstSharedPtr rois_msg, + double rois_timeout); + void fusion_callback(); + + [[nodiscard]] CollectorStatus get_status(); + + void set_info(std::shared_ptr collector_info); + [[nodiscard]] std::shared_ptr get_info() const; + bool ready_to_fuse(); + bool rois_exists(const std::size_t & rois_id); + bool msg3d_exists(); + void add_camera_projection( + std::size_t rois_id, std::shared_ptr camera_projector_ptr); + void set_period(const std::chrono::nanoseconds period); + void reset(); + void show_debug_message(); + +private: + std::shared_ptr> ros2_parent_node_; + rclcpp::TimerBase::SharedPtr timer_; + std::size_t rois_number_; + typename Msg3D::ConstSharedPtr msg3d_{nullptr}; + std::vector> det2d_status_list_; + std::unordered_map id_to_rois_map_; + bool is_first_msg3d_{false}; + bool debug_mode_; + std::mutex fusion_mutex_; + std::shared_ptr fusion_collector_info_; + CollectorStatus status_; +}; + +} // namespace autoware::image_projection_based_fusion diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_matching_strategy.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_matching_strategy.hpp new file mode 100644 index 0000000000000..d53d3e1308774 --- /dev/null +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_matching_strategy.hpp @@ -0,0 +1,145 @@ +// Copyright 2025 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. + +#pragma once + +#include "autoware/image_projection_based_fusion/fusion_collector.hpp" + +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace autoware::image_projection_based_fusion +{ + +template +class FusionNode; + +struct MatchingContextBase +{ + virtual ~MatchingContextBase() = default; +}; + +struct Msg3dMatchingContext : public MatchingContextBase +{ + double msg3d_timestamp; + + explicit Msg3dMatchingContext(double msg3d_timestamp = 0.0) : msg3d_timestamp(msg3d_timestamp) {} +}; + +struct RoisMatchingContext : public MatchingContextBase +{ + double rois_timestamp; + std::size_t rois_id; + + explicit RoisMatchingContext(double rois_timestamp = 0.0, std::size_t rois_id = 0) + : rois_timestamp(rois_timestamp), rois_id(rois_id) + { + } +}; + +template +class FusionMatchingStrategy +{ +public: + virtual ~FusionMatchingStrategy() = default; + + [[nodiscard]] virtual std::optional>> + match_rois_to_collector( + const std::list>> & fusion_collectors, + const std::shared_ptr & matching_context) const = 0; + + [[nodiscard]] virtual std::optional>> + match_msg3d_to_collector( + const std::list>> & fusion_collectors, + const std::shared_ptr & matching_context) = 0; + virtual void set_collector_info( + std::shared_ptr> & collector, + const std::shared_ptr & matching_context) = 0; +}; + +template +class NaiveMatchingStrategy : public FusionMatchingStrategy +{ +public: + explicit NaiveMatchingStrategy( + std::shared_ptr> && ros2_parent_node, + const std::unordered_map & id_to_offset_map); + + [[nodiscard]] std::optional>> + match_rois_to_collector( + const std::list>> & fusion_collectors, + const std::shared_ptr & matching_context) const override; + + [[nodiscard]] std::optional>> + match_msg3d_to_collector( + const std::list>> & fusion_collectors, + const std::shared_ptr & matching_context) override; + + void set_collector_info( + std::shared_ptr> & collector, + const std::shared_ptr & matching_context) override; + +private: + std::shared_ptr> ros2_parent_node_; + std::unordered_map id_to_offset_map_; + double threshold_; +}; + +template +class AdvancedMatchingStrategy : public FusionMatchingStrategy +{ +public: + explicit AdvancedMatchingStrategy( + std::shared_ptr> && ros2_parent_node, + const std::unordered_map & id_to_offset_map); + + [[nodiscard]] std::optional>> + match_rois_to_collector( + const std::list>> & fusion_collectors, + const std::shared_ptr & matching_context) const override; + + [[nodiscard]] std::optional>> + match_msg3d_to_collector( + const std::list>> & fusion_collectors, + const std::shared_ptr & matching_context) override; + void set_collector_info( + std::shared_ptr> & collector, + const std::shared_ptr & matching_context) override; + + double get_concatenated_offset( + const double & msg3d_timestamp, + const std::optional> & concatenated_status); + + double extract_fractional(double timestamp); + void update_fractional_timestamp_set(double new_timestamp); + double compute_offset(double input_timestamp); + +private: + std::shared_ptr> ros2_parent_node_; + std::unordered_map id_to_offset_map_; + std::unordered_map id_to_noise_window_map_; + double msg3d_noise_window_; + std::set fractional_timestamp_set_; // Use set to store unique fractional timestamps + int success_status_counter_{0}; + static constexpr int success_threshold{100}; + bool database_created_{false}; +}; +} // namespace autoware::image_projection_based_fusion diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp index 5b889ac9a3e8b..eb900faa4d9c3 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp @@ -1,4 +1,4 @@ -// Copyright 2022 TIER IV, Inc. +// Copyright 2025 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. @@ -12,17 +12,23 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ -#define AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ +#pragma once + +#include "autoware/image_projection_based_fusion/fusion_collector.hpp" +#include "autoware/image_projection_based_fusion/fusion_matching_strategy.hpp" +#include "autoware/image_projection_based_fusion/fusion_types.hpp" #include #include #include #include #include +#include #include #include +#include +#include #include #include #include @@ -38,44 +44,16 @@ #include #include -#include +#include +#include #include -#include +#include #include -#include +#include #include namespace autoware::image_projection_based_fusion { -using autoware_perception_msgs::msg::DetectedObject; -using autoware_perception_msgs::msg::DetectedObjects; -using sensor_msgs::msg::CameraInfo; -using sensor_msgs::msg::Image; -using PointCloudMsgType = sensor_msgs::msg::PointCloud2; -using RoiMsgType = tier4_perception_msgs::msg::DetectedObjectsWithFeature; -using ClusterMsgType = tier4_perception_msgs::msg::DetectedObjectsWithFeature; -using ClusterObjType = tier4_perception_msgs::msg::DetectedObjectWithFeature; -using tier4_perception_msgs::msg::DetectedObjectWithFeature; -using PointCloud = pcl::PointCloud; -using autoware::image_projection_based_fusion::CameraProjection; -using autoware_perception_msgs::msg::ObjectClassification; - -template -struct Det2dStatus -{ - // camera index - std::size_t id = 0; - // camera projection - std::unique_ptr camera_projector_ptr; - bool project_to_unrectified_image = false; - bool approximate_camera_projection = false; - // process flags - bool is_fused = false; - // timing - double input_offset_ms = 0.0; - // cache - std::map cached_det2d_msgs; -}; template class FusionNode : public rclcpp::Node @@ -89,57 +67,83 @@ class FusionNode : public rclcpp::Node explicit FusionNode( const std::string & node_name, const rclcpp::NodeOptions & options, int queue_size); + virtual void preprocess(Msg3D & output_msg); + virtual void fuse_on_single_image( + const Msg3D & input_msg3d, const Det2dStatus & det2d_status, + const Msg2D & input_rois_msg, Msg3D & output_msg) = 0; + void export_process( + typename Msg3D::SharedPtr & output_det3d_msg, + std::unordered_map id_to_stamp_map, + std::shared_ptr collector_info); + std::optional> find_concatenation_status( + double timestamp); + void show_diagnostic_message( + std::unordered_map id_to_stamp_map, + std::shared_ptr collector_info); + private: // Common process methods - void cameraInfoCallback( + void camera_info_callback( const sensor_msgs::msg::CameraInfo::ConstSharedPtr input_camera_info_msg, - const std::size_t camera_id); - - // callback for timer - void timer_callback(); - void setPeriod(const int64_t new_period); - void exportProcess(); - - // 2d detection management methods - bool checkAllDet2dFused() - { - for (const auto & det2d : det2d_list_) { - if (!det2d.is_fused) { - return false; - } - } - return true; - } + const std::size_t rois_id); + + void initialize_strategy(); + void initialize_collector_list(); + void manage_collector_list(); + void manage_concatenated_status_map(double current_timestamp); + + static std::string format_timestamp(double timestamp); + void check_fusion_status(diagnostic_updater::DiagnosticStatusWrapper & stat); // camera projection float approx_grid_cell_w_size_; float approx_grid_cell_h_size_; + bool debug_mode_{false}; + bool collector_debug_mode_{false}; + + std::size_t rois_number_; // timer - rclcpp::TimerBase::SharedPtr timer_; - double timeout_ms_{}; - double match_threshold_ms_{}; + double msg3d_timeout_sec_{}; + double rois_timeout_sec_{}; std::vector::SharedPtr> rois_subs_; std::vector::SharedPtr> camera_info_subs_; - // cache for fusion - int64_t cached_det3d_msg_timestamp_; - typename Msg3D::SharedPtr cached_det3d_msg_ptr_; + std::unique_ptr> fusion_matching_strategy_; + std::mutex fusion_collectors_mutex_; + std::list>> fusion_collectors_; + + std::unordered_map id_to_offset_map_; + + // timestamp: (key, value) + std::unordered_map> concatenated_status_map_; + + diagnostic_updater::Updater diagnostic_updater_{this}; + std::shared_ptr diagnostic_collector_info_; + std::unordered_map diagnostic_id_to_stamp_map_; + + double current_output_msg_timestamp_{0.0}; + double latest_output_msg_timestamp_{0.0}; + double rosbag_length_{10.0}; + bool publish_previous_but_late_output_msg_{false}; + bool drop_previous_but_late_output_msg_{false}; + bool publish_output_msg_{false}; + bool msg3d_fused_{true}; + static constexpr const int num_of_collectors = 10; + bool init_collector_list_{false}; protected: - void setDet2DStatus(std::size_t rois_number); + void initialize_det2d_status(std::size_t rois_number); // callback for main subscription - void subCallback(const typename Msg3D::ConstSharedPtr input_msg); - // callback for roi subscription - void roiCallback(const typename Msg2D::ConstSharedPtr input_roi_msg, const std::size_t roi_i); + void sub_callback(const typename Msg3D::ConstSharedPtr msg3d); + // callback for rois subscription + void rois_callback(const typename Msg2D::ConstSharedPtr rois_msg, const std::size_t rois_id); + + void diagnostic_callback(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr diagnostic_msg); // Custom process methods - virtual void preprocess(Msg3D & output_msg); - virtual void fuseOnSingleImage( - const Msg3D & input_msg, const Det2dStatus & det2d, const Msg2D & input_roi_msg, - Msg3D & output_msg) = 0; virtual void postprocess(const Msg3D & processing_msg, ExportObj & output_msg); virtual void publish(const ExportObj & output_msg); @@ -148,10 +152,11 @@ class FusionNode : public rclcpp::Node tf2_ros::TransformListener tf_listener_; // 2d detection management - std::vector> det2d_list_; + std::vector> det2d_status_list_; // 3d detection subscription - typename rclcpp::Subscription::SharedPtr det3d_sub_; + typename rclcpp::Subscription::SharedPtr msg3d_sub_; + rclcpp::Subscription::SharedPtr sub_diag_; // parameters for out_of_scope filter float filter_scope_min_x_; @@ -161,6 +166,8 @@ class FusionNode : public rclcpp::Node float filter_scope_min_z_; float filter_scope_max_z_; + std::string matching_strategy_; + // output publisher typename rclcpp::Publisher::SharedPtr pub_ptr_; @@ -179,5 +186,3 @@ class FusionNode : public rclcpp::Node }; } // namespace autoware::image_projection_based_fusion - -#endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_types.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_types.hpp new file mode 100644 index 0000000000000..e43e38061dee5 --- /dev/null +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_types.hpp @@ -0,0 +1,38 @@ +// Copyright 2025 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. + +#pragma once + +#include +#include +#include +#include + +#include +#include + +namespace autoware::image_projection_based_fusion +{ +using autoware_perception_msgs::msg::DetectedObject; +using autoware_perception_msgs::msg::DetectedObjects; +using sensor_msgs::msg::CameraInfo; +using sensor_msgs::msg::Image; +using PointCloudMsgType = sensor_msgs::msg::PointCloud2; +using RoiMsgType = tier4_perception_msgs::msg::DetectedObjectsWithFeature; +using ClusterMsgType = tier4_perception_msgs::msg::DetectedObjectsWithFeature; +using ClusterObjType = tier4_perception_msgs::msg::DetectedObjectWithFeature; +using tier4_perception_msgs::msg::DetectedObjectWithFeature; +using PointCloud = pcl::PointCloud; +using autoware_perception_msgs::msg::ObjectClassification; +} // namespace autoware::image_projection_based_fusion diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp index 32293d9b85c75..6deaddec7cd7a 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp @@ -50,9 +50,9 @@ class PointPaintingFusionNode : public FusionNode & det2d, - const RoiMsgType & input_roi_msg, PointCloudMsgType & painted_pointcloud_msg) override; + void fuse_on_single_image( + const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus & det2d_status, + const RoiMsgType & input_rois_msg, PointCloudMsgType & painted_pointcloud_msg) override; void postprocess( const PointCloudMsgType & painted_pointcloud_msg, DetectedObjects & output_msg) override; diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp index b7bf8738b68a4..31685cbc34c29 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp @@ -32,9 +32,9 @@ class RoiClusterFusionNode : public FusionNode & det2d, - const RoiMsgType & input_roi_msg, ClusterMsgType & output_cluster_msg) override; + void fuse_on_single_image( + const ClusterMsgType & input_cluster_msg, const Det2dStatus & det2d_status, + const RoiMsgType & input_rois_msg, ClusterMsgType & output_cluster_msg) override; void postprocess(const ClusterMsgType & output_cluster_msg, ClusterMsgType & output_msg) override; diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp index ffe7e176dfa27..f51f5737b937c 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp @@ -39,12 +39,12 @@ class RoiDetectedObjectFusionNode : public FusionNode & det2d, - const RoiMsgType & input_roi_msg, DetectedObjects & output_object_msg) override; + void fuse_on_single_image( + const DetectedObjects & input_object_msg, const Det2dStatus & det2d_status, + const RoiMsgType & input_rois_msg, DetectedObjects & output_object_msg) override; std::map generateDetectedObjectRoIs( - const DetectedObjects & input_object_msg, const Det2dStatus & det2d, + const DetectedObjects & input_object_msg, const Det2dStatus & det2d_status, const Eigen::Affine3d & object2camera_affine); void fuseObjectsOnImage( diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp index 77a1745faa7e5..da6c1a0716539 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp @@ -34,9 +34,9 @@ class RoiPointCloudFusionNode : public FusionNode::SharedPtr point_pub_ptr_; rclcpp::Publisher::SharedPtr cluster_debug_pub_; - void fuseOnSingleImage( - const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus & det2d, - const RoiMsgType & input_roi_msg, PointCloudMsgType & output_pointcloud_msg) override; + void fuse_on_single_image( + const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus & det2d_status, + const RoiMsgType & input_rois_msg, PointCloudMsgType & output_pointcloud_msg) override; void postprocess(const PointCloudMsgType & pointcloud_msg, ClusterMsgType & output_msg) override; diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp index 5414f98e142cd..845cba88f3e78 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp @@ -42,8 +42,8 @@ class SegmentPointCloudFusionNode : public FusionNode & det2d, + void fuse_on_single_image( + const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus & det2d_status, const Image & input_mask, PointCloudMsgType & output_pointcloud_msg) override; inline void copyPointCloud( diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp index 1555e0123a368..eaff188daa555 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp @@ -63,7 +63,7 @@ struct PointData size_t orig_index; }; -bool checkCameraInfo(const sensor_msgs::msg::CameraInfo & camera_info); +bool check_camera_info(const sensor_msgs::msg::CameraInfo & camera_info); std::optional getTransformStamped( const tf2_ros::Buffer & tf_buffer, const std::string & target_frame_id, diff --git a/perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml index 9053237127394..4ade70e90654e 100644 --- a/perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml +++ b/perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml @@ -54,7 +54,7 @@ - + @@ -96,7 +96,7 @@ - + diff --git a/perception/autoware_image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml b/perception/autoware_image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml index 3a2a74e84ec1e..db463e4fb367a 100644 --- a/perception/autoware_image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml +++ b/perception/autoware_image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/perception/autoware_image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml b/perception/autoware_image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml index b2716dd4d3ae9..144b219a9965e 100644 --- a/perception/autoware_image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml +++ b/perception/autoware_image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml @@ -3,19 +3,19 @@ - + - + - + - + - + - + - + diff --git a/perception/autoware_image_projection_based_fusion/package.xml b/perception/autoware_image_projection_based_fusion/package.xml index c920d9e23ff10..9f583226a4149 100644 --- a/perception/autoware_image_projection_based_fusion/package.xml +++ b/perception/autoware_image_projection_based_fusion/package.xml @@ -2,7 +2,7 @@ autoware_image_projection_based_fusion - 0.42.0 + 0.43.0 The autoware_image_projection_based_fusion package Yukihiro Saito Yoshi Ri @@ -15,6 +15,7 @@ ament_cmake_auto autoware_cmake + autoware_cuda_dependency_meta autoware_euclidean_cluster autoware_internal_debug_msgs autoware_lidar_centerpoint @@ -23,6 +24,8 @@ autoware_point_types autoware_utils cv_bridge + diagnostic_msgs + diagnostic_updater image_geometry image_transport message_filters diff --git a/perception/autoware_image_projection_based_fusion/schema/fusion_common.schema.json b/perception/autoware_image_projection_based_fusion/schema/fusion_common.schema.json index 8077f3e2f3e30..2a1966ee1bb57 100644 --- a/perception/autoware_image_projection_based_fusion/schema/fusion_common.schema.json +++ b/perception/autoware_image_projection_based_fusion/schema/fusion_common.schema.json @@ -6,24 +6,26 @@ "fusion_common": { "type": "object", "properties": { - "input_offset_ms": { + "rois_timestamp_offsets": { "type": "array", - "description": "An array of timestamp offsets for each camera [ms].", - "default": [61.67, 111.67, 45.0, 28.33, 78.33, 95.0] + "items": { + "type": "number" + }, + "description": "The timestamp offset between each RoIs and the msg3d in seconds.", + "minItems": 2, + "default": [0.059, 0.01, 0.026, 0.042, 0.076, 0.093] }, - "timeout_ms": { + "rois_timeout_sec": { "type": "number", - "description": "A timeout value can be assigned within a single frame [ms].", - "default": 70.0, - "minimum": 1.0, - "maximum": 100.0 + "description": "Timer's timeout duration in seconds when the collector created by RoIs msg.", + "default": 0.5, + "minimum": 0.001 }, - "match_threshold_ms": { + "msg3d_timeout_sec": { "type": "number", - "description": "A maximum threshold value to synchronize RoIs from multiple cameras [ms].", - "default": 50.0, - "minimum": 0.0, - "maximum": 100.0 + "description": "Timer's timeout duration in seconds when the collector received msg3d.", + "default": 0.05, + "minimum": 0.001 }, "image_buffer_size": { "type": "integer", @@ -36,11 +38,6 @@ "description": "An array of options indicating whether to project point to unrectified image or not.", "default": [false, false, false, false, false, false] }, - "debug_mode": { - "type": "boolean", - "description": "Whether to debug or not.", - "default": false - }, "filter_scope_min_x": { "type": "number", "description": "Minimum x position to be considered for debug [m].", @@ -85,6 +82,86 @@ "type": "number", "description": "The height of grid cell used in approximated projection [pixel].", "default": 1.0 + }, + "debug_mode": { + "type": "boolean", + "description": "Flag to enable or disable debug message output.", + "default": false + }, + "collector_debug_mode": { + "type": "boolean", + "description": "Flag to enable or disable collector's debug message output.", + "default": false + }, + "publish_processing_time_detail": { + "type": "boolean", + "description": "Flag to publish detail message for processing time.", + "default": false + }, + "publish_previous_but_late_output_msg": { + "type": "boolean", + "description": "Flag to indicate if the current fusion result should be published if its timestamp is earlier than the previous published fusion result.", + "default": false + }, + "rosbag_length": { + "type": "number", + "description": "This value determine if the rosbag has started from the beginning again. The value should be set smaller than the actual length of the bag.", + "default": 10.0 + }, + "matching_strategy": { + "type": "object", + "properties": { + "type": { + "type": "string", + "enum": ["naive", "advanced"], + "default": "advanced", + "description": "Set it to `advanced` if you want to use more accurate and complicated logic for matching LiDAR and camera; otherwise, set it to `naive`." + }, + "threshold": { + "type": "number", + "description": "A maximum threshold value to synchronize RoIs from multiple cameras in seconds.", + "default": 0.05, + "minimum": 0.0, + "maximum": 0.1 + }, + "msg3d_noise_window": { + "type": "number", + "description": "msg3d noise window in seconds.", + "default": 0.001, + "minimum": 0.0 + }, + "rois_timestamp_noise_window": { + "type": "array", + "items": { + "type": "number", + "minimum": 0.0 + }, + "default": [0.005, 0.005, 0.005, 0.005, 0.005, 0.005], + "minItems": 2, + "description": "List of camera timestamp noise windows in seconds. The noise values should be specified in the same order as the input_topics." + } + }, + "required": ["type"], + "dependencies": { + "type": { + "oneOf": [ + { + "properties": { "type": { "const": "naive" } }, + "required": ["threshold"], + "not": { + "required": ["msg3d_noise_window", "rois_timestamp_noise_window"] + } + }, + { + "properties": { "type": { "const": "advanced" } }, + "required": ["msg3d_noise_window", "rois_timestamp_noise_window"], + "not": { + "required": ["threshold"] + } + } + ] + } + } } } } diff --git a/perception/autoware_image_projection_based_fusion/src/fusion_collector.cpp b/perception/autoware_image_projection_based_fusion/src/fusion_collector.cpp new file mode 100644 index 0000000000000..249f8941e2ca1 --- /dev/null +++ b/perception/autoware_image_projection_based_fusion/src/fusion_collector.cpp @@ -0,0 +1,306 @@ +// Copyright 2025 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. + +#include "autoware/image_projection_based_fusion/fusion_collector.hpp" + +#include "autoware/image_projection_based_fusion/fusion_node.hpp" +#include "autoware/image_projection_based_fusion/fusion_types.hpp" + +#include + +#include +#include +#include +#include +#include + +namespace autoware::image_projection_based_fusion +{ + +template +FusionCollector::FusionCollector( + std::shared_ptr> && ros2_parent_node, std::size_t rois_number, + const std::vector> & det2d_status_list, bool debug_mode) +: ros2_parent_node_(std::move(ros2_parent_node)), + rois_number_(rois_number), + det2d_status_list_(det2d_status_list), + debug_mode_(debug_mode) +{ + status_ = CollectorStatus::Idle; + + auto init_timeout_sec = 1.0; // This will be overwritten when input come + const auto period_ns = std::chrono::duration_cast( + std::chrono::duration(init_timeout_sec)); + + timer_ = + rclcpp::create_timer(ros2_parent_node_, ros2_parent_node_->get_clock(), period_ns, [this]() { + std::lock_guard fusion_lock(fusion_mutex_); + if (status_ == CollectorStatus::Finished) return; + fusion_callback(); + }); +} + +template +void FusionCollector::set_info( + std::shared_ptr fusion_collector_info) +{ + fusion_collector_info_ = std::move(fusion_collector_info); +} + +template +std::shared_ptr FusionCollector::get_info() const +{ + return fusion_collector_info_; +} + +template +void FusionCollector::process_msg3d( + const typename Msg3D::ConstSharedPtr msg3d, double msg3d_timeout) +{ + std::lock_guard fusion_lock(fusion_mutex_); + + if (status_ == CollectorStatus::Idle) { + // Add msg3d to the collector, restart the timer + status_ = CollectorStatus::Processing; + is_first_msg3d_ = true; + const auto period_ns = std::chrono::duration_cast( + std::chrono::duration(msg3d_timeout)); + set_period(period_ns); + timer_->reset(); + } else if (status_ == CollectorStatus::Processing) { + if (msg3d_ != nullptr) { + RCLCPP_WARN_STREAM_THROTTLE( + ros2_parent_node_->get_logger(), *ros2_parent_node_->get_clock(), + std::chrono::milliseconds(10000).count(), + "Msg3d already exists in the collector. Check the timestamp of the msg3d."); + } + + if (!is_first_msg3d_) { + const auto period_ns = std::chrono::duration_cast( + std::chrono::duration(msg3d_timeout)); + set_period(period_ns); + timer_->reset(); + } + } + + msg3d_ = msg3d; + if (ready_to_fuse()) { + fusion_callback(); + } +} + +template +void FusionCollector::process_rois( + const std::size_t & rois_id, const typename Msg2D::ConstSharedPtr rois_msg, double rois_timeout) +{ + std::lock_guard fusion_lock(fusion_mutex_); + + if (status_ == CollectorStatus::Idle) { + // Add rois_msg to the collector, restart the timer + status_ = CollectorStatus::Processing; + is_first_msg3d_ = false; + const auto period_ns = std::chrono::duration_cast( + std::chrono::duration(rois_timeout)); + set_period(period_ns); + timer_->reset(); + } else if (status_ == CollectorStatus::Processing) { + if (id_to_rois_map_.find(rois_id) != id_to_rois_map_.end()) { + RCLCPP_WARN_STREAM_THROTTLE( + ros2_parent_node_->get_logger(), *ros2_parent_node_->get_clock(), + std::chrono::milliseconds(10000).count(), + "ROIs '" << rois_id + << "' already exists in the collector. Check the timestamp of the rois."); + } + } + + id_to_rois_map_[rois_id] = rois_msg; + if (ready_to_fuse()) { + fusion_callback(); + } +} + +template +bool FusionCollector::ready_to_fuse() +{ + return id_to_rois_map_.size() == rois_number_ && msg3d_ != nullptr; +} + +template +CollectorStatus FusionCollector::get_status() +{ + std::lock_guard fusion_lock(fusion_mutex_); + return status_; +} + +template +void FusionCollector::fusion_callback() +{ + if (debug_mode_) { + show_debug_message(); + } + + // All pointcloud and rois are received or the timer has timed out, cancel the timer and fuse + // them. + timer_->cancel(); + + std::unordered_map id_to_stamp_map; + for (const auto & [rois_id, rois_msg] : id_to_rois_map_) { + id_to_stamp_map[rois_id] = rclcpp::Time(rois_msg->header.stamp).seconds(); + } + + if (!msg3d_) { + RCLCPP_DEBUG( + ros2_parent_node_->get_logger(), + "The input 3D message is not in the fusion collector, so the fusion process will be " + "skipped."); + status_ = CollectorStatus::Finished; + ros2_parent_node_->show_diagnostic_message(id_to_stamp_map, fusion_collector_info_); + return; + } + + typename Msg3D::SharedPtr output_det3d_msg = std::make_shared(*msg3d_); + ros2_parent_node_->preprocess(*output_det3d_msg); + + for (const auto & [rois_id, rois_msg] : id_to_rois_map_) { + if (det2d_status_list_[rois_id].camera_projector_ptr == nullptr) { + RCLCPP_WARN_THROTTLE( + ros2_parent_node_->get_logger(), *ros2_parent_node_->get_clock(), 5000, + "no camera info. id is %zu", rois_id); + continue; + } + ros2_parent_node_->fuse_on_single_image( + *msg3d_, det2d_status_list_[rois_id], *rois_msg, *output_det3d_msg); + } + + ros2_parent_node_->export_process(output_det3d_msg, id_to_stamp_map, fusion_collector_info_); + status_ = CollectorStatus::Finished; +} + +template +bool FusionCollector::rois_exists(const std::size_t & rois_id) +{ + return id_to_rois_map_.find(rois_id) != id_to_rois_map_.end(); +} + +template +bool FusionCollector::msg3d_exists() +{ + return msg3d_ != nullptr; +} + +template +void FusionCollector::add_camera_projection( + std::size_t rois_id, std::shared_ptr camera_projector_ptr) +{ + std::lock_guard lock(fusion_mutex_); + det2d_status_list_[rois_id].camera_projector_ptr = camera_projector_ptr; +} + +template +void FusionCollector::set_period(const std::chrono::nanoseconds period) +{ + try { + const auto new_period = period.count(); + if (!timer_) { + return; + } + int64_t old_period = 0; + rcl_ret_t ret = rcl_timer_get_period(timer_->get_timer_handle().get(), &old_period); + if (ret != RCL_RET_OK) { + rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't get old period"); + } + ret = rcl_timer_exchange_period(timer_->get_timer_handle().get(), new_period, &old_period); + if (ret != RCL_RET_OK) { + rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't exchange_period"); + } + } catch (rclcpp::exceptions::RCLError & ex) { + RCLCPP_WARN_THROTTLE( + ros2_parent_node_->get_logger(), *ros2_parent_node_->get_clock(), 5000, "%s", ex.what()); + } +} + +template +void FusionCollector::reset() +{ + std::lock_guard lock(fusion_mutex_); + + status_ = CollectorStatus::Idle; // Reset status to Idle + id_to_rois_map_.clear(); + msg3d_ = nullptr; + fusion_collector_info_ = nullptr; + is_first_msg3d_ = false; + + if (timer_ && !timer_->is_canceled()) { + timer_->cancel(); + } +} + +template +void FusionCollector::show_debug_message() +{ + auto time_until_trigger = timer_->time_until_trigger(); + std::stringstream log_stream; + log_stream << std::fixed << std::setprecision(6); + log_stream << "Collector's fusion callback time: " + << ros2_parent_node_->get_clock()->now().seconds() << " seconds\n"; + + if ( + auto advanced_info = std::dynamic_pointer_cast(fusion_collector_info_)) { + log_stream << "Advanced strategy:\n Fusion collector's reference time min: " + << advanced_info->timestamp - advanced_info->noise_window + << " to max: " << advanced_info->timestamp + advanced_info->noise_window + << " seconds\n"; + } else if ( + auto naive_info = std::dynamic_pointer_cast(fusion_collector_info_)) { + log_stream << "Naive strategy:\n Fusion collector's timestamp: " << naive_info->timestamp + << " seconds\n"; + } + + log_stream << "Time until trigger: " << (time_until_trigger.count() / 1e9) << " seconds\n"; + if (msg3d_) { + log_stream << "Msg3d: [" << rclcpp::Time(msg3d_->header.stamp).seconds() << "]\n"; + } else { + log_stream << "Msg3d: [Is empty]\n"; + } + log_stream << "ROIs: ["; + std::string separator; + for (const auto & [id, rois] : id_to_rois_map_) { + log_stream << separator; + log_stream << "[rois " << id << ", " << rclcpp::Time(rois->header.stamp).seconds() << "]"; + separator = ", "; + } + + log_stream << "]\n"; + + RCLCPP_INFO(ros2_parent_node_->get_logger(), "%s", log_stream.str().c_str()); +} + +// Explicit instantiation for the supported types + +// pointpainting fusion +template class FusionCollector; + +// roi cluster fusion +template class FusionCollector; + +// roi detected-object fusion +template class FusionCollector; + +// roi pointcloud fusion +template class FusionCollector; + +// segment pointcloud fusion +template class FusionCollector; + +} // namespace autoware::image_projection_based_fusion diff --git a/perception/autoware_image_projection_based_fusion/src/fusion_matching_strategy.cpp b/perception/autoware_image_projection_based_fusion/src/fusion_matching_strategy.cpp new file mode 100644 index 0000000000000..f417f26f52613 --- /dev/null +++ b/perception/autoware_image_projection_based_fusion/src/fusion_matching_strategy.cpp @@ -0,0 +1,433 @@ +// Copyright 2025 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. + +#include "autoware/image_projection_based_fusion/fusion_matching_strategy.hpp" + +#include "autoware/image_projection_based_fusion/fusion_collector.hpp" +#include "autoware/image_projection_based_fusion/fusion_node.hpp" +#include "autoware/image_projection_based_fusion/fusion_types.hpp" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace autoware::image_projection_based_fusion +{ + +template +NaiveMatchingStrategy::NaiveMatchingStrategy( + std::shared_ptr> && ros2_parent_node, + const std::unordered_map & id_to_offset_map) +: ros2_parent_node_(std::move(ros2_parent_node)), id_to_offset_map_(id_to_offset_map) +{ + if (!ros2_parent_node_) { + throw std::runtime_error("ros2_parent_node is nullptr in NaiveMatchingStrategy constructor."); + } + + threshold_ = ros2_parent_node_->template declare_parameter("matching_strategy.threshold"); + + RCLCPP_INFO(ros2_parent_node_->get_logger(), "Utilize naive matching strategy for fusion nodes."); +} + +template +std::optional>> +NaiveMatchingStrategy::match_rois_to_collector( + const std::list>> & fusion_collectors, + const std::shared_ptr & matching_context) const +{ + double smallest_time_difference = std::numeric_limits::max(); + std::shared_ptr> closest_collector = nullptr; + + for (const auto & fusion_collector : fusion_collectors) { + if (!fusion_collector->rois_exists(matching_context->rois_id)) { + if ( + auto naive_info = + std::dynamic_pointer_cast(fusion_collector->get_info())) { + auto offset_it = id_to_offset_map_.find(matching_context->rois_id); + if (offset_it == id_to_offset_map_.end()) { + RCLCPP_ERROR( + ros2_parent_node_->get_logger(), "Missing offset for rois_id: %zu", + matching_context->rois_id); + continue; + } + + double time_difference = + std::abs(matching_context->rois_timestamp - naive_info->timestamp - offset_it->second); + if (time_difference < smallest_time_difference && time_difference < naive_info->threshold) { + smallest_time_difference = time_difference; + closest_collector = fusion_collector; + } + } + } + } + + return closest_collector; // Implicitly returns std::nullopt if closest_collector is nullptr +} + +template +std::optional>> +NaiveMatchingStrategy::match_msg3d_to_collector( + const std::list>> & fusion_collectors, + const std::shared_ptr & matching_context) +{ + double smallest_time_difference = std::numeric_limits::max(); + std::shared_ptr> closest_collector = nullptr; + + for (const auto & fusion_collector : fusion_collectors) { + if (!fusion_collector->msg3d_exists()) { + if ( + auto naive_info = + std::dynamic_pointer_cast(fusion_collector->get_info())) { + double time_difference = + std::abs(matching_context->msg3d_timestamp - naive_info->timestamp); + + if (time_difference < smallest_time_difference && time_difference < naive_info->threshold) { + smallest_time_difference = time_difference; + closest_collector = fusion_collector; + } + } + } + } + + return closest_collector; // Implicitly returns std::nullopt if closest_collector is nullptr +} + +template +void NaiveMatchingStrategy::set_collector_info( + std::shared_ptr> & collector, + const std::shared_ptr & matching_context) +{ + if (!matching_context) { + RCLCPP_ERROR(ros2_parent_node_->get_logger(), "matching_context is nullptr!"); + return; + } + + if ( + auto msg3d_matching_context = + std::dynamic_pointer_cast(matching_context)) { + auto info = + std::make_shared(msg3d_matching_context->msg3d_timestamp, threshold_); + collector->set_info(info); + + } else if ( + auto rois_matching_context = std::dynamic_pointer_cast(matching_context)) { + auto offset_it = id_to_offset_map_.find(rois_matching_context->rois_id); + if (offset_it == id_to_offset_map_.end()) { + RCLCPP_ERROR( + ros2_parent_node_->get_logger(), "Missing offset for rois_id: %zu", + rois_matching_context->rois_id); + return; + } + + auto info = std::make_shared( + rois_matching_context->rois_timestamp - offset_it->second, threshold_); + collector->set_info(info); + } +} + +template +AdvancedMatchingStrategy::AdvancedMatchingStrategy( + std::shared_ptr> && ros2_parent_node, + const std::unordered_map & id_to_offset_map) +: ros2_parent_node_(std::move(ros2_parent_node)), id_to_offset_map_(id_to_offset_map) +{ + if (!ros2_parent_node_) { + throw std::runtime_error( + "ros2_parent_node is nullptr in AdvancedMatchingStrategy constructor."); + } + + msg3d_noise_window_ = + ros2_parent_node_->template declare_parameter("matching_strategy.msg3d_noise_window"); + auto rois_timestamp_noise_window = + ros2_parent_node_->template declare_parameter>( + "matching_strategy.rois_timestamp_noise_window"); + + auto rois_number = id_to_offset_map_.size(); + if (rois_timestamp_noise_window.size() != rois_number) { + throw std::runtime_error( + "Mismatch: rois_number (" + std::to_string(rois_number) + + ") does not match rois_timestamp_noise_window size (" + + std::to_string(rois_timestamp_noise_window.size()) + ")."); + } + + for (size_t i = 0; i < rois_number; i++) { + id_to_noise_window_map_[i] = rois_timestamp_noise_window[i]; + } + + RCLCPP_INFO( + ros2_parent_node_->get_logger(), "Utilize advanced matching strategy for fusion nodes."); +} + +template +std::optional>> +AdvancedMatchingStrategy::match_rois_to_collector( + const std::list>> & fusion_collectors, + const std::shared_ptr & matching_context) const +{ + auto offset_it = id_to_offset_map_.find(matching_context->rois_id); + auto noise_it = id_to_noise_window_map_.find(matching_context->rois_id); + + if (offset_it == id_to_offset_map_.end() || noise_it == id_to_noise_window_map_.end()) { + RCLCPP_ERROR( + ros2_parent_node_->get_logger(), "Missing offset or noise window for rois_id: %zu", + matching_context->rois_id); + return std::nullopt; + } + + double adjusted_timestamp = matching_context->rois_timestamp - offset_it->second; + double noise_window = noise_it->second; + + for (const auto & fusion_collector : fusion_collectors) { + if ( + auto advanced_info = + std::dynamic_pointer_cast(fusion_collector->get_info())) { + double reference_timestamp_min = advanced_info->timestamp - advanced_info->noise_window; + double reference_timestamp_max = advanced_info->timestamp + advanced_info->noise_window; + + if ( + adjusted_timestamp < reference_timestamp_max + noise_window && + adjusted_timestamp > reference_timestamp_min - noise_window) { + return fusion_collector; + } + } + } + return std::nullopt; +} + +template +std::optional>> +AdvancedMatchingStrategy::match_msg3d_to_collector( + const std::list>> & fusion_collectors, + const std::shared_ptr & matching_context) +{ + auto concatenated_status = + ros2_parent_node_->find_concatenation_status(matching_context->msg3d_timestamp); + + double offset = get_concatenated_offset(matching_context->msg3d_timestamp, concatenated_status); + double adjusted_timestamp = matching_context->msg3d_timestamp - offset; + + for (const auto & fusion_collector : fusion_collectors) { + if ( + auto advanced_info = + std::dynamic_pointer_cast(fusion_collector->get_info())) { + double reference_timestamp_min = advanced_info->timestamp - advanced_info->noise_window; + double reference_timestamp_max = advanced_info->timestamp + advanced_info->noise_window; + + if ( + adjusted_timestamp < reference_timestamp_max + msg3d_noise_window_ && + adjusted_timestamp > reference_timestamp_min - msg3d_noise_window_) { + return fusion_collector; + } + } + } + return std::nullopt; +} + +template +void AdvancedMatchingStrategy::set_collector_info( + std::shared_ptr> & collector, + const std::shared_ptr & matching_context) +{ + if (!matching_context) { + RCLCPP_ERROR(ros2_parent_node_->get_logger(), "matching_context is nullptr!"); + return; + } + + if ( + auto msg3d_matching_context = + std::dynamic_pointer_cast(matching_context)) { + auto concatenated_status = + ros2_parent_node_->find_concatenation_status(msg3d_matching_context->msg3d_timestamp); + double offset = + get_concatenated_offset(msg3d_matching_context->msg3d_timestamp, concatenated_status); + + auto info = std::make_shared( + msg3d_matching_context->msg3d_timestamp - offset, msg3d_noise_window_); + collector->set_info(info); + } else if ( + auto rois_matching_context = std::dynamic_pointer_cast(matching_context)) { + auto offset_it = id_to_offset_map_.find(rois_matching_context->rois_id); + auto noise_it = id_to_noise_window_map_.find(rois_matching_context->rois_id); + + if (offset_it == id_to_offset_map_.end() || noise_it == id_to_noise_window_map_.end()) { + RCLCPP_ERROR( + ros2_parent_node_->get_logger(), "Missing offset or noise window for rois_id: %zu", + rois_matching_context->rois_id); + return; + } + + auto info = std::make_shared( + rois_matching_context->rois_timestamp - offset_it->second, noise_it->second); + collector->set_info(info); + } +} + +template +double AdvancedMatchingStrategy::get_concatenated_offset( + const double & msg3d_timestamp, + const std::optional> & concatenated_status) +{ + double offset = 0.0; + + if (concatenated_status.has_value()) { + bool concatenation_success = false; + const auto & status_map = concatenated_status.value(); + + // Find required keys in the map + auto concat_success_it = status_map.find("cloud_concatenation_success"); + + if (concat_success_it != status_map.end()) { + concatenation_success = (concat_success_it->second == "True"); + if (concatenation_success && database_created_) { + return offset; // 0.0 + } + } + + auto ref_min_it = status_map.find("reference_timestamp_min"); + auto ref_max_it = status_map.find("reference_timestamp_max"); + if (ref_min_it != status_map.end() && ref_max_it != status_map.end()) { + try { + double reference_min = std::stod(ref_min_it->second); + double reference_max = std::stod(ref_max_it->second); + + if (!concatenation_success && msg3d_timestamp > reference_max) { + offset = msg3d_timestamp - (reference_min + (reference_max - reference_min) / 2); + } else if (!database_created_ && concatenation_success) { + auto concat_cloud_it = status_map.find("concatenated_cloud_timestamp"); + if (concat_cloud_it != status_map.end()) { + double concatenated_cloud_timestamp = std::stod(concat_cloud_it->second); + update_fractional_timestamp_set(concatenated_cloud_timestamp); + success_status_counter_++; + offset = 0.0; + + if (success_status_counter_ > success_threshold) { + database_created_ = true; + } + } + } + } catch (const std::exception & e) { + RCLCPP_ERROR(ros2_parent_node_->get_logger(), "Failed to parse timestamp: %s", e.what()); + } + } + } else { + if (database_created_) { + offset = compute_offset(msg3d_timestamp); + RCLCPP_DEBUG(ros2_parent_node_->get_logger(), "Using database, computed offset: %f", offset); + } else { + offset = 0.0; // Database not created yet, expect the concatenation is successful + } + } + + return offset; +} + +template +double AdvancedMatchingStrategy::extract_fractional(double timestamp) +{ + return fmod(timestamp, 1.0); +} + +template +void AdvancedMatchingStrategy::update_fractional_timestamp_set( + double timestamp) +{ + double fractional_part = extract_fractional(timestamp); + + // Check if the new timestamp belongs to an existing element within noise tolerance + for (auto it = fractional_timestamp_set_.begin(); it != fractional_timestamp_set_.end(); ++it) { + if (std::abs(fractional_part - *it) < msg3d_noise_window_ * 2) { + // If it belongs to an existing group, average the timestamp + double updated_value = (*it + fractional_part) / 2; + fractional_timestamp_set_.erase(it); + fractional_timestamp_set_.insert(updated_value); + return; + } + } + + fractional_timestamp_set_.insert(fractional_part); +} + +template +double AdvancedMatchingStrategy::compute_offset(double input_timestamp) +{ + if (fractional_timestamp_set_.empty()) { + return 0.0; + } + + double fractional_part = extract_fractional(input_timestamp); + double expected_timestamp = -1.0; + + // Check if input timestamp is within an existing timestamp ± noise_tolerance + for (const auto & timestamp : fractional_timestamp_set_) { + if ( + fractional_part >= timestamp - msg3d_noise_window_ && + fractional_part < timestamp + msg3d_noise_window_) { + return 0.0; // If within range, offset is zero + } + } + + // Find the closest timestamp ≤ fractional_part + auto it = fractional_timestamp_set_.lower_bound(fractional_part); + if (it == fractional_timestamp_set_.end()) { + --it; + expected_timestamp = floor(input_timestamp) + *it; + } else if (it == fractional_timestamp_set_.begin()) { + // **If `new_timestamp` is smaller than all stored timestamps, use the largest timestamp** + expected_timestamp = floor(input_timestamp) - 1 + *fractional_timestamp_set_.rbegin(); + } else { + --it; + expected_timestamp = floor(input_timestamp) + *it; + } + return input_timestamp - expected_timestamp; +} + +// pointpainting fusion +template class NaiveMatchingStrategy; + +// roi cluster fusion +template class NaiveMatchingStrategy; + +// roi detected-object fusion +template class NaiveMatchingStrategy; + +// roi pointcloud fusion +template class NaiveMatchingStrategy; + +// segment pointcloud fusion +template class NaiveMatchingStrategy; + +// pointpainting fusion +template class AdvancedMatchingStrategy; + +// roi cluster fusion +template class AdvancedMatchingStrategy; + +// roi detected-object fusion +template class AdvancedMatchingStrategy; + +// roi pointcloud fusion +template class AdvancedMatchingStrategy; + +// segment pointcloud fusion +template class AdvancedMatchingStrategy; + +} // namespace autoware::image_projection_based_fusion diff --git a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp index cb79c04ae2d47..d34a07a969a6f 100644 --- a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2022 TIER IV, Inc. +// Copyright 2025 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. @@ -12,23 +12,29 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include #define EIGEN_MPL2_ONLY +#include "autoware/image_projection_based_fusion/fusion_collector.hpp" #include "autoware/image_projection_based_fusion/fusion_node.hpp" +#include "autoware/image_projection_based_fusion/fusion_types.hpp" #include #include #include -#include #include #include #include +#include #include #include +#include #include +#include +#include #include #ifdef ROS_DISTRO_GALACTIC @@ -40,9 +46,6 @@ #include #endif -// static int publish_counter = 0; -static double processing_time_ms = 0; - namespace autoware::image_projection_based_fusion { using autoware_utils::ScopedTimeTrack; @@ -53,29 +56,40 @@ FusionNode::FusionNode( : Node(node_name, options), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_) { // set rois_number - const std::size_t rois_number = - static_cast(declare_parameter("rois_number")); - if (rois_number < 1) { - RCLCPP_ERROR( - this->get_logger(), "minimum rois_number is 1. current rois_number is %zu", rois_number); + rois_number_ = static_cast(declare_parameter("rois_number")); + if (rois_number_ < 1) { + throw std::runtime_error( + "Minimum rois_number_ is 1. Current rois_number_ is " + std::to_string(rois_number_)); } - if (rois_number > 8) { + if (rois_number_ > 8) { RCLCPP_WARN( this->get_logger(), - "Current rois_number is %zu. Large rois number may cause performance issue.", rois_number); + "Current rois_number_ is %zu. Large rois number may cause performance issue.", rois_number_); } // Set parameters - match_threshold_ms_ = declare_parameter("match_threshold_ms"); - timeout_ms_ = declare_parameter("timeout_ms"); + msg3d_timeout_sec_ = declare_parameter("msg3d_timeout_sec"); + rois_timeout_sec_ = declare_parameter("rois_timeout_sec"); + + auto rois_timestamp_offsets = declare_parameter>("rois_timestamp_offsets"); + if (rois_timestamp_offsets.size() != rois_number_) { + throw std::runtime_error( + "Mismatch: rois_number (" + std::to_string(rois_number_) + + ") does not match rois_timestamp_offsets size (" + + std::to_string(rois_timestamp_offsets.size()) + ")."); + } + + for (std::size_t i = 0; i < rois_number_; i++) { + id_to_offset_map_[i] = rois_timestamp_offsets[i]; + } std::vector input_rois_topics; std::vector input_camera_info_topics; - input_rois_topics.resize(rois_number); - input_camera_info_topics.resize(rois_number); + input_rois_topics.resize(rois_number_); + input_camera_info_topics.resize(rois_number_); - for (std::size_t roi_i = 0; roi_i < rois_number; ++roi_i) { + for (std::size_t roi_i = 0; roi_i < rois_number_; ++roi_i) { input_rois_topics.at(roi_i) = declare_parameter( "input/rois" + std::to_string(roi_i), "/perception/object_recognition/detection/rois" + std::to_string(roi_i)); @@ -85,38 +99,38 @@ FusionNode::FusionNode( "/sensing/camera/camera" + std::to_string(roi_i) + "/camera_info"); } - // subscribe camera info - camera_info_subs_.resize(rois_number); - for (std::size_t roi_i = 0; roi_i < rois_number; ++roi_i) { - std::function fnc = - std::bind(&FusionNode::cameraInfoCallback, this, std::placeholders::_1, roi_i); - camera_info_subs_.at(roi_i) = this->create_subscription( - input_camera_info_topics.at(roi_i), rclcpp::QoS{1}.best_effort(), fnc); - } + // Subscribe to Camera Info + camera_info_subs_.resize(rois_number_); + for (auto rois_id = 0u; rois_id < rois_number_; ++rois_id) { + auto topic = input_camera_info_topics.at(rois_id); + auto qos = rclcpp::QoS{1}.best_effort(); - // subscribe rois - rois_subs_.resize(rois_number); - for (std::size_t roi_i = 0; roi_i < rois_number; ++roi_i) { - std::function roi_callback = - std::bind(&FusionNode::roiCallback, this, std::placeholders::_1, roi_i); - rois_subs_.at(roi_i) = this->create_subscription( - input_rois_topics.at(roi_i), rclcpp::QoS{1}.best_effort(), roi_callback); + camera_info_subs_[rois_id] = this->create_subscription( + topic, qos, [this, rois_id](const sensor_msgs::msg::CameraInfo::ConstSharedPtr msg) { + this->camera_info_callback(msg, rois_id); + }); } - // subscribe 3d detection - std::function sub_callback = - std::bind(&FusionNode::subCallback, this, std::placeholders::_1); - det3d_sub_ = - this->create_subscription("input", rclcpp::QoS(1).best_effort(), sub_callback); + // Subscribe to ROIs + rois_subs_.resize(rois_number_); - // Set timer - const auto period_ns = std::chrono::duration_cast( - std::chrono::duration(timeout_ms_)); - timer_ = rclcpp::create_timer( - this, get_clock(), period_ns, std::bind(&FusionNode::timer_callback, this)); + for (auto rois_id = 0u; rois_id < rois_number_; ++rois_id) { + auto topic = input_rois_topics.at(rois_id); + auto qos = rclcpp::QoS{1}.best_effort(); + + rois_subs_[rois_id] = this->create_subscription( + topic, qos, [this, rois_id](const typename Msg2D::ConstSharedPtr msg) { + this->rois_callback(msg, rois_id); + }); + } + + // Subscribe 3D input msg + msg3d_sub_ = this->create_subscription( + "input", rclcpp::QoS(1).best_effort(), + [this](const typename Msg3D::ConstSharedPtr msg) { this->sub_callback(msg); }); // initialization on each 2d detections - setDet2DStatus(rois_number); + initialize_det2d_status(rois_number_); // parameters for approximation grid approx_grid_cell_w_size_ = declare_parameter("approximation_grid_cell_width"); @@ -130,23 +144,30 @@ FusionNode::FusionNode( filter_scope_min_z_ = declare_parameter("filter_scope_min_z"); filter_scope_max_z_ = declare_parameter("filter_scope_max_z"); + rosbag_length_ = declare_parameter("rosbag_length"); + publish_previous_but_late_output_msg_ = + declare_parameter("publish_previous_but_late_output_msg"); + matching_strategy_ = declare_parameter("matching_strategy.type"); + // debugger - if (declare_parameter("debug_mode", false)) { + debug_mode_ = declare_parameter("debug_mode"); + if (debug_mode_) { std::vector input_camera_topics; - input_camera_topics.resize(rois_number); - for (std::size_t roi_i = 0; roi_i < rois_number; ++roi_i) { + input_camera_topics.resize(rois_number_); + for (std::size_t roi_i = 0; roi_i < rois_number_; ++roi_i) { input_camera_topics.at(roi_i) = declare_parameter( "input/image" + std::to_string(roi_i), "/sensing/camera/camera" + std::to_string(roi_i) + "/image_rect_color"); } - std::size_t image_buffer_size = + auto image_buffer_size = static_cast(declare_parameter("image_buffer_size")); debugger_ = - std::make_shared(this, rois_number, image_buffer_size, input_camera_topics); + std::make_shared(this, rois_number_, image_buffer_size, input_camera_topics); // input topic timing publisher debug_internal_pub_ = std::make_unique(this, get_name()); } + collector_debug_mode_ = declare_parameter("collector_debug_mode"); // time keeper bool use_time_keeper = declare_parameter("publish_processing_time_detail"); @@ -165,18 +186,45 @@ FusionNode::FusionNode( stop_watch_ptr_->tic("cyclic_time"); stop_watch_ptr_->tic("processing_time"); } + + // Diagnostic Updater + diagnostic_updater_.setHardwareID(node_name + "_checker"); + diagnostic_updater_.add(node_name + "_status", this, &FusionNode::check_fusion_status); +} + +template +void FusionNode::initialize_strategy() +{ + if (matching_strategy_ == "naive") { + fusion_matching_strategy_ = std::make_unique>( + std::dynamic_pointer_cast(shared_from_this()), id_to_offset_map_); + } else if (matching_strategy_ == "advanced") { + fusion_matching_strategy_ = std::make_unique>( + std::dynamic_pointer_cast(shared_from_this()), id_to_offset_map_); + // subscribe diagnostics + sub_diag_ = this->create_subscription( + "/diagnostics", 10, std::bind(&FusionNode::diagnostic_callback, this, std::placeholders::_1)); + } else { + throw std::runtime_error("Matching strategy must be 'advanced' or 'naive'"); + } } template -void FusionNode::setDet2DStatus(std::size_t rois_number) +void FusionNode::initialize_collector_list() { - // camera offset settings - std::vector input_offset_ms = declare_parameter>("input_offset_ms"); - if (!input_offset_ms.empty() && rois_number > input_offset_ms.size()) { - throw std::runtime_error("The number of offsets does not match the number of topics."); + // Initialize collector list + for (size_t i = 0; i < num_of_collectors; ++i) { + fusion_collectors_.emplace_back(std::make_shared>( + std::dynamic_pointer_cast(shared_from_this()), rois_number_, det2d_status_list_, + collector_debug_mode_)); } + init_collector_list_ = true; +} - // camera projection settings +template +void FusionNode::initialize_det2d_status(std::size_t rois_number) +{ + // Camera projection settings std::vector point_project_to_unrectified_image = declare_parameter>("point_project_to_unrectified_image"); if (rois_number > point_project_to_unrectified_image.size()) { @@ -184,315 +232,504 @@ void FusionNode::setDet2DStatus(std::size_t rois_number "The number of point_project_to_unrectified_image does not match the number of rois " "topics."); } - std::vector approx_camera_projection = + std::vector approximate_camera_projection = declare_parameter>("approximate_camera_projection"); - if (rois_number != approx_camera_projection.size()) { - const std::size_t current_size = approx_camera_projection.size(); - RCLCPP_WARN( - get_logger(), - "The number of elements in approximate_camera_projection should be the same as in " - "rois_number. " - "It has %zu elements.", - current_size); - if (current_size < rois_number) { - approx_camera_projection.resize(rois_number); - for (std::size_t i = current_size; i < rois_number; i++) { - approx_camera_projection.at(i) = true; - } - } + if (rois_number != approximate_camera_projection.size()) { + const std::size_t current_size = approximate_camera_projection.size(); + throw std::runtime_error( + "The number of elements in approximate_camera_projection should be the same as rois_number_. " + "It has " + + std::to_string(current_size) + " elements, but rois_number is " + + std::to_string(rois_number) + "."); } - // 2d detection status initialization - det2d_list_.resize(rois_number); - for (std::size_t roi_i = 0; roi_i < rois_number; ++roi_i) { - det2d_list_.at(roi_i).id = roi_i; - det2d_list_.at(roi_i).project_to_unrectified_image = - point_project_to_unrectified_image.at(roi_i); - det2d_list_.at(roi_i).approximate_camera_projection = approx_camera_projection.at(roi_i); - det2d_list_.at(roi_i).input_offset_ms = input_offset_ms.at(roi_i); + // 2D detection status initialization + det2d_status_list_.resize(rois_number_); + for (std::size_t rois_id = 0; rois_id < rois_number_; ++rois_id) { + det2d_status_list_.at(rois_id).id = rois_id; + det2d_status_list_.at(rois_id).project_to_unrectified_image = + point_project_to_unrectified_image.at(rois_id); + det2d_status_list_.at(rois_id).approximate_camera_projection = + approximate_camera_projection.at(rois_id); } } template -void FusionNode::cameraInfoCallback( +void FusionNode::camera_info_callback( const sensor_msgs::msg::CameraInfo::ConstSharedPtr input_camera_info_msg, - const std::size_t camera_id) + const std::size_t rois_id) { - // create the CameraProjection when the camera info arrives for the first time - // assuming the camera info does not change while the node is running - auto & det2d = det2d_list_.at(camera_id); - if (!det2d.camera_projector_ptr && checkCameraInfo(*input_camera_info_msg)) { - det2d.camera_projector_ptr = std::make_unique( + if (rois_id >= det2d_status_list_.size()) { + throw std::out_of_range("rois_id " + std::to_string(rois_id) + " is out of range."); + } + + // Create the CameraProjection only when the camera info arrives for the first time. + // This assume the camera info does not change while the node is running + auto & det2d_status = det2d_status_list_.at(rois_id); + if (det2d_status.camera_projector_ptr == nullptr && check_camera_info(*input_camera_info_msg)) { + det2d_status.camera_projector_ptr = std::make_unique( *input_camera_info_msg, approx_grid_cell_w_size_, approx_grid_cell_h_size_, - det2d.project_to_unrectified_image, det2d.approximate_camera_projection); - det2d.camera_projector_ptr->initialize(); + det2d_status.project_to_unrectified_image, det2d_status.approximate_camera_projection); + det2d_status.camera_projector_ptr->initialize(); + + std::unique_lock fusion_collectors_lock(fusion_collectors_mutex_); + for (auto & collector : fusion_collectors_) { + collector->add_camera_projection(rois_id, det2d_status.camera_projector_ptr); + } } } template -void FusionNode::preprocess(Msg3D & ouput_msg __attribute__((unused))) +void FusionNode::preprocess([[maybe_unused]] Msg3D & output_msg) { - // do nothing by default + // Default implementation: No preprocessing. + // This function can be overridden by derived classes if needed. } template -void FusionNode::exportProcess() +void FusionNode::export_process( + typename Msg3D::SharedPtr & output_det3d_msg, + std::unordered_map id_to_stamp_map, + std::shared_ptr collector_info) { - timer_->cancel(); - ExportObj output_msg; - postprocess(*(cached_det3d_msg_ptr_), output_msg); - publish(output_msg); + postprocess(*(output_det3d_msg), output_msg); + + // Update timestamp + current_output_msg_timestamp_ = rclcpp::Time(output_msg.header.stamp).seconds(); + + // Handle late messages during rosbag replay + if ( + current_output_msg_timestamp_ < latest_output_msg_timestamp_ && + !publish_previous_but_late_output_msg_) { + double timestamp_diff = latest_output_msg_timestamp_ - current_output_msg_timestamp_; + + publish_output_msg_ = (timestamp_diff > rosbag_length_); // Force publish if rosbag looped + drop_previous_but_late_output_msg_ = !publish_output_msg_; // Drop otherwise + } else { + publish_output_msg_ = true; // Publish normally + } + + if (publish_output_msg_) { + publish(output_msg); + } - // add processing time for debug + // Move collected diagnostics info + diagnostic_collector_info_ = std::move(collector_info); + diagnostic_id_to_stamp_map_ = std::move(id_to_stamp_map); + diagnostic_updater_.force_update(); + + // Add processing time for debugging if (debug_publisher_) { - const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true); - const double pipeline_latency_ms = + auto cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true); + auto pipeline_latency_ms = std::chrono::duration( std::chrono::nanoseconds( - (this->get_clock()->now() - cached_det3d_msg_ptr_->header.stamp).nanoseconds())) + (this->get_clock()->now() - output_det3d_msg->header.stamp).nanoseconds())) .count(); + debug_publisher_->publish( "debug/cyclic_time_ms", cyclic_time_ms); debug_publisher_->publish( - "debug/processing_time_ms", - processing_time_ms + stop_watch_ptr_->toc("processing_time", true)); + "debug/processing_time_ms", stop_watch_ptr_->toc("processing_time", true)); debug_publisher_->publish( "debug/pipeline_latency_ms", pipeline_latency_ms); - processing_time_ms = 0; } - cached_det3d_msg_ptr_ = nullptr; + + // debug + if (debug_internal_pub_) { + for (std::size_t rois_id = 0; rois_id < rois_number_; ++rois_id) { + auto rois_timestamp = diagnostic_id_to_stamp_map_[rois_id]; + auto timestamp_interval_ms = (rois_timestamp - current_output_msg_timestamp_) * 1000; + debug_internal_pub_->publish( + "debug/roi" + std::to_string(rois_id) + "/timestamp_interval_ms", timestamp_interval_ms); + debug_internal_pub_->publish( + "debug/roi" + std::to_string(rois_id) + "/timestamp_interval_offset_ms", + timestamp_interval_ms - id_to_offset_map_[rois_id] * 1000); + } + } } template -void FusionNode::subCallback( - const typename Msg3D::ConstSharedPtr det3d_msg) +void FusionNode::sub_callback(const typename Msg3D::ConstSharedPtr msg3d) { - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - if (cached_det3d_msg_ptr_ != nullptr) { - // PROCESS: if the main message is remained (and roi is not collected all) publish the main - // message may processed partially with arrived 2d rois - stop_watch_ptr_->toc("processing_time", true); - exportProcess(); + if (!fusion_matching_strategy_) { + initialize_strategy(); + } - // reset flags - for (auto & det2d : det2d_list_) { - det2d.is_fused = false; - } + if (!init_collector_list_) { + initialize_collector_list(); } - // TIMING: reset timer to the timeout time - auto period = std::chrono::duration_cast( - std::chrono::duration(timeout_ms_)); - try { - setPeriod(period.count()); - } catch (rclcpp::exceptions::RCLError & ex) { - RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 5000, "%s", ex.what()); + // Debug logging for message latency + if (collector_debug_mode_) { + auto arrive_time = this->get_clock()->now().seconds(); + auto msg3d_stamp = rclcpp::Time(msg3d->header.stamp).seconds(); + RCLCPP_DEBUG( + this->get_logger(), "msg3d timestamp: %lf, arrive time: %lf, latency: %lf", msg3d_stamp, + arrive_time, arrive_time - msg3d_stamp); } - timer_->reset(); + + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); stop_watch_ptr_->toc("processing_time", true); + manage_collector_list(); - // PROCESS: preprocess the main message - typename Msg3D::SharedPtr output_msg = std::make_shared(*det3d_msg); - preprocess(*output_msg); - - // PROCESS: fuse the main message with the cached roi messages - // (please ask maintainers before parallelize this loop because debugger is not thread safe) - int64_t timestamp_nsec = - (*output_msg).header.stamp.sec * static_cast(1e9) + (*output_msg).header.stamp.nanosec; - // for loop for each roi - for (auto & det2d : det2d_list_) { - const auto roi_i = det2d.id; - - // check camera info - if (det2d.camera_projector_ptr == nullptr) { - RCLCPP_WARN_THROTTLE( - this->get_logger(), *this->get_clock(), 5000, "no camera info. id is %zu", roi_i); - continue; - } - auto & det2d_msgs = det2d.cached_det2d_msgs; - - // check if the roi is collected - if (det2d_msgs.size() == 0) continue; - - // MATCH: get the closest roi message, and remove outdated messages - int64_t min_interval = 1e9; - int64_t matched_stamp = -1; - std::list outdate_stamps; - for (const auto & [roi_stamp, value] : det2d_msgs) { - int64_t new_stamp = timestamp_nsec + det2d.input_offset_ms * static_cast(1e6); - int64_t interval = abs(static_cast(roi_stamp) - new_stamp); - - if (interval <= min_interval && interval <= match_threshold_ms_ * static_cast(1e6)) { - min_interval = interval; - matched_stamp = roi_stamp; - } else if ( - static_cast(roi_stamp) < new_stamp && - interval > match_threshold_ms_ * static_cast(1e6)) { - outdate_stamps.push_back(static_cast(roi_stamp)); - } - } - for (auto stamp : outdate_stamps) { - det2d_msgs.erase(stamp); - } + std::shared_ptr> selected_collector = nullptr; + // Lock fusion collectors list + std::unique_lock fusion_collectors_lock(fusion_collectors_mutex_); - // PROCESS: if matched, fuse the main message with the roi message - if (matched_stamp != -1) { - if (debugger_) { - debugger_->clear(); - } + auto msg3d_timestamp = rclcpp::Time(msg3d->header.stamp).seconds(); - fuseOnSingleImage(*det3d_msg, det2d, *(det2d_msgs[matched_stamp]), *output_msg); - det2d_msgs.erase(matched_stamp); - det2d.is_fused = true; - - // add timestamp interval for debug - if (debug_internal_pub_) { - double timestamp_interval_ms = (matched_stamp - timestamp_nsec) / 1e6; - debug_internal_pub_->publish( - "debug/roi" + std::to_string(roi_i) + "/timestamp_interval_ms", timestamp_interval_ms); - debug_internal_pub_->publish( - "debug/roi" + std::to_string(roi_i) + "/timestamp_interval_offset_ms", - timestamp_interval_ms - det2d.input_offset_ms); - } - } + // Create matching parameters + auto matching_context = std::make_shared(); + matching_context->msg3d_timestamp = msg3d_timestamp; + + // Try to find an existing FusionCollector that matches this message + auto fusion_collector = + !fusion_collectors_.empty() + ? fusion_matching_strategy_->match_msg3d_to_collector(fusion_collectors_, matching_context) + : std::nullopt; + + if (fusion_collector && fusion_collector.value()) { + selected_collector = fusion_collector.value(); } - // PROCESS: check if the fused message is ready to publish - cached_det3d_msg_timestamp_ = timestamp_nsec; - cached_det3d_msg_ptr_ = output_msg; - if (checkAllDet2dFused()) { - // if all camera fused, postprocess and publish the main message - exportProcess(); + // If no suitable collector was found, reuse the collector if the status is Idle + if (!selected_collector || selected_collector->get_status() == CollectorStatus::Finished) { + auto it = std::find_if( + fusion_collectors_.begin(), fusion_collectors_.end(), + [](const auto & collector) { return collector->get_status() == CollectorStatus::Idle; }); - // reset flags - for (auto & det2d : det2d_list_) { - det2d.is_fused = false; + if (it != fusion_collectors_.end()) { + selected_collector = *it; } + } + + fusion_collectors_lock.unlock(); + if (selected_collector) { + fusion_matching_strategy_->set_collector_info(selected_collector, matching_context); + selected_collector->process_msg3d(msg3d, msg3d_timeout_sec_); } else { - // if all of rois are not collected, publish the old Msg(if exists) and cache the - // current Msg - processing_time_ms = stop_watch_ptr_->toc("processing_time", true); + // Handle case where no suitable collector is found + RCLCPP_WARN(get_logger(), "No available FusionCollector in IDLE state."); + } + + if (matching_strategy_ == "advanced") { + // remove outdated messages in the concatenated map + manage_concatenated_status_map(msg3d_timestamp); + } + + if (debugger_) { + debugger_->clear(); } } template -void FusionNode::roiCallback( - const typename Msg2D::ConstSharedPtr det2d_msg, const std::size_t roi_i) +void FusionNode::rois_callback( + const typename Msg2D::ConstSharedPtr rois_msg, const std::size_t rois_id) { + if (!fusion_matching_strategy_) { + initialize_strategy(); + } + + if (!init_collector_list_) { + initialize_collector_list(); + } + + if (collector_debug_mode_) { + auto arrive_time = this->get_clock()->now().seconds(); + RCLCPP_DEBUG( + this->get_logger(), " rois %zu timestamp: %lf arrive time: %lf seconds, latency: %lf", + rois_id, rclcpp::Time(rois_msg->header.stamp).seconds(), arrive_time, + arrive_time - rclcpp::Time(rois_msg->header.stamp).seconds()); + } + std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - stop_watch_ptr_->toc("processing_time", true); + manage_collector_list(); - auto & det2d = det2d_list_.at(roi_i); - - int64_t timestamp_nsec = - (*det2d_msg).header.stamp.sec * static_cast(1e9) + (*det2d_msg).header.stamp.nanosec; - // if cached Msg exist, try to match - if (cached_det3d_msg_ptr_ != nullptr) { - int64_t new_stamp = - cached_det3d_msg_timestamp_ + det2d.input_offset_ms * static_cast(1e6); - int64_t interval = abs(timestamp_nsec - new_stamp); - - // PROCESS: if matched, fuse the main message with the roi message - if (interval < match_threshold_ms_ * static_cast(1e6) && det2d.is_fused == false) { - // check camera info - if (det2d.camera_projector_ptr == nullptr) { - RCLCPP_WARN_THROTTLE( - this->get_logger(), *this->get_clock(), 5000, "no camera info. id is %zu", roi_i); - det2d.cached_det2d_msgs[timestamp_nsec] = det2d_msg; - return; - } + std::shared_ptr> selected_collector = nullptr; + // Lock fusion collectors list + std::unique_lock fusion_collectors_lock(fusion_collectors_mutex_); - if (debugger_) { - debugger_->clear(); - } - // PROCESS: fuse the main message with the roi message - fuseOnSingleImage(*(cached_det3d_msg_ptr_), det2d, *det2d_msg, *(cached_det3d_msg_ptr_)); - det2d.is_fused = true; - - if (debug_internal_pub_) { - double timestamp_interval_ms = (timestamp_nsec - cached_det3d_msg_timestamp_) / 1e6; - debug_internal_pub_->publish( - "debug/roi" + std::to_string(roi_i) + "/timestamp_interval_ms", timestamp_interval_ms); - debug_internal_pub_->publish( - "debug/roi" + std::to_string(roi_i) + "/timestamp_interval_offset_ms", - timestamp_interval_ms - det2d.input_offset_ms); + auto rois_timestamp = rclcpp::Time(rois_msg->header.stamp).seconds(); + + // Create matching parameters + auto matching_context = std::make_shared(); + matching_context->rois_id = rois_id; + matching_context->rois_timestamp = rois_timestamp; + + // Try to find an existing FusionCollector that matches this message + auto fusion_collector = + !fusion_collectors_.empty() + ? fusion_matching_strategy_->match_rois_to_collector(fusion_collectors_, matching_context) + : std::nullopt; + + if (fusion_collector && fusion_collector.value()) { + selected_collector = fusion_collector.value(); + } + + // If no suitable collector was found, reuse the collector if the status is Idle + if (!selected_collector || selected_collector->get_status() == CollectorStatus::Finished) { + auto it = std::find_if( + fusion_collectors_.begin(), fusion_collectors_.end(), + [](const auto & collector) { return collector->get_status() == CollectorStatus::Idle; }); + + if (it != fusion_collectors_.end()) { + selected_collector = *it; + } + } + + fusion_collectors_lock.unlock(); + if (selected_collector) { + fusion_matching_strategy_->set_collector_info(selected_collector, matching_context); + selected_collector->process_rois(rois_id, rois_msg, rois_timeout_sec_); + } else { + // Handle case where no suitable collector is found + RCLCPP_WARN(get_logger(), "No available FusionCollector in IDLE state."); + } + + if (debugger_) { + debugger_->clear(); + } +} + +template +void FusionNode::diagnostic_callback( + const diagnostic_msgs::msg::DiagnosticArray::SharedPtr diagnostic_msg) +{ + for (const auto & status : diagnostic_msg->status) { + // Filter for the concatenate_and_time_sync_node diagnostic message + if ( + status.name == std::string_view("concatenate_data: /sensing/lidar/concatenate_data_status")) { + std::optional concatenate_timestamp_opt; + + // First pass: Locate concatenated_cloud_timestamp + for (const auto & value : status.values) { + if (value.key == std::string_view("concatenated_cloud_timestamp")) { + try { + concatenate_timestamp_opt = std::stod(value.value); + } catch (const std::exception & e) { + RCLCPP_ERROR(get_logger(), "Error parsing concatenated cloud timestamp: %s", e.what()); + } + } } - // PROCESS: if all camera fused, postprocess and publish the main message - if (checkAllDet2dFused()) { - exportProcess(); - // reset flags - for (auto & status : det2d_list_) { - status.is_fused = false; + // Second pass: Fill key-value map only if timestamp was valid + if (concatenate_timestamp_opt.has_value()) { + std::unordered_map key_value_map; + for (const auto & value : status.values) { + key_value_map.emplace(value.key, value.value); } + + concatenated_status_map_.emplace( + concatenate_timestamp_opt.value(), std::move(key_value_map)); } - processing_time_ms = processing_time_ms + stop_watch_ptr_->toc("processing_time", true); - return; } } - // store roi msg if not matched - det2d.cached_det2d_msgs[timestamp_nsec] = det2d_msg; } template -void FusionNode::timer_callback() +void FusionNode::manage_concatenated_status_map(double current_timestamp) { - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + constexpr double threshold_seconds = 1.0; // Define threshold as a constant + + // Remove old entries from concatenated_status_map_ + auto it = concatenated_status_map_.begin(); + while (it != concatenated_status_map_.end()) { + if (current_timestamp - it->first > threshold_seconds) { + RCLCPP_DEBUG( + get_logger(), "Removing old concatenation status for timestamp: %.9f", it->first); + it = concatenated_status_map_.erase(it); + } else { + ++it; + } + } +} - using std::chrono_literals::operator""ms; - timer_->cancel(); +template +void FusionNode::postprocess( + [[maybe_unused]] const Msg3D & processing_msg, [[maybe_unused]] ExportObj & output_msg) +{ + // Default implementation: No postprocessing. + // This function can be overridden by derived classes if needed. +} - // PROCESS: if timeout, postprocess cached msg - if (cached_det3d_msg_ptr_ != nullptr) { - stop_watch_ptr_->toc("processing_time", true); - exportProcess(); +template +void FusionNode::publish(const ExportObj & output_msg) +{ + if (!pub_ptr_) { + RCLCPP_WARN(get_logger(), "Publish failed: pub_ptr_ is null."); + return; } - // reset flags whether the message is fused or not - for (auto & det2d : det2d_list_) { - det2d.is_fused = false; + if (pub_ptr_->get_subscription_count() < 1) { + RCLCPP_DEBUG(get_logger(), "No subscribers, skipping publish."); + return; } + + pub_ptr_->publish(output_msg); } template -void FusionNode::setPeriod(const int64_t new_period) +void FusionNode::manage_collector_list() { - if (!timer_) { - return; + std::lock_guard collectors_lock(fusion_collectors_mutex_); + + int num_processing_collectors = 0; + + for (auto & collector : fusion_collectors_) { + if (collector->get_status() == CollectorStatus::Finished) { + collector->reset(); + } + + if (collector->get_status() == CollectorStatus::Processing) { + num_processing_collectors++; + } } - int64_t old_period = 0; - rcl_ret_t ret = rcl_timer_get_period(timer_->get_timer_handle().get(), &old_period); - if (ret != RCL_RET_OK) { - rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't get old period"); + + if (num_processing_collectors == num_of_collectors) { + auto min_it = fusion_collectors_.end(); + constexpr double k_max_timestamp = std::numeric_limits::max(); + double min_timestamp = k_max_timestamp; + + for (auto it = fusion_collectors_.begin(); it != fusion_collectors_.end(); ++it) { + if ((*it)->get_status() == CollectorStatus::Processing) { + auto info = (*it)->get_info(); + double timestamp = k_max_timestamp; + + if (auto naive_info = std::dynamic_pointer_cast(info)) { + timestamp = naive_info->timestamp; + } else if (auto advanced_info = std::dynamic_pointer_cast(info)) { + timestamp = advanced_info->timestamp; + } else { + continue; + } + + if (timestamp < min_timestamp) { + min_timestamp = timestamp; + min_it = it; + } + } + } + + // Reset the collector with the oldest timestamp if found + if (min_it != fusion_collectors_.end()) { + RCLCPP_WARN_STREAM_THROTTLE( + this->get_logger(), *this->get_clock(), 1000, + "Reset the oldest collector because the number of processing collectors (" + << num_processing_collectors << ") equal to the limit (" << num_of_collectors << ")."); + (*min_it)->reset(); + } } - ret = rcl_timer_exchange_period(timer_->get_timer_handle().get(), new_period, &old_period); - if (ret != RCL_RET_OK) { - rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't exchange_period"); +} + +template +std::optional> +FusionNode::find_concatenation_status(double timestamp) +{ + auto it = concatenated_status_map_.find(timestamp); + if (it != concatenated_status_map_.end()) { + return it->second; } + return std::nullopt; } template -void FusionNode::postprocess( - const Msg3D & processing_msg __attribute__((unused)), - ExportObj & output_msg __attribute__((unused))) +std::string FusionNode::format_timestamp(double timestamp) { - // do nothing by default + std::ostringstream oss; + oss << std::fixed << std::setprecision(9) << timestamp; + return oss.str(); } template -void FusionNode::publish(const ExportObj & output_msg) +void FusionNode::show_diagnostic_message( + std::unordered_map id_to_stamp_map, + std::shared_ptr collector_info) { - if (pub_ptr_->get_subscription_count() < 1) { - return; + msg3d_fused_ = false; + diagnostic_collector_info_ = std::move(collector_info); + diagnostic_id_to_stamp_map_ = std::move(id_to_stamp_map); + diagnostic_updater_.force_update(); +} + +template +void FusionNode::check_fusion_status( + diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + if (publish_output_msg_ || drop_previous_but_late_output_msg_ || !msg3d_fused_) { + stat.add("msg3d/is_fused", msg3d_fused_); + + if (msg3d_fused_) { + stat.add("fused_timestamp", format_timestamp(current_output_msg_timestamp_)); + } + + if ( + auto naive_info = std::dynamic_pointer_cast(diagnostic_collector_info_)) { + stat.add("first_input_arrival_timestamp", format_timestamp(naive_info->timestamp)); + } else if ( + auto advanced_info = + std::dynamic_pointer_cast(diagnostic_collector_info_)) { + stat.add( + "reference_timestamp_min", + format_timestamp(advanced_info->timestamp - advanced_info->noise_window)); + stat.add( + "reference_timestamp_max", + format_timestamp(advanced_info->timestamp + advanced_info->noise_window)); + } + + bool rois_miss = false; + bool fusion_success = msg3d_fused_; + + for (std::size_t id = 0; id < rois_number_; ++id) { + std::string rois_prefix = "rois" + std::to_string(id); + bool input_rois_fused = true; + + auto it = diagnostic_id_to_stamp_map_.find(id); + if (it != diagnostic_id_to_stamp_map_.end()) { + stat.add(rois_prefix + "/timestamp", format_timestamp(it->second)); + } else { + rois_miss = true; + fusion_success = false; + input_rois_fused = false; + } + stat.add(rois_prefix + "/is_fused", input_rois_fused); + } + + stat.add("fusion_success", fusion_success); + + int8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string message = "Fused output is published and include all rois and msg3d"; + + if (drop_previous_but_late_output_msg_) { + level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + message = + rois_miss + ? "Fused output msg misses some ROIs and is not published because it arrived too late" + : "Fused output msg is not published as it is too late"; + } else if (rois_miss) { + level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + message = "Fused output msg is published but misses some ROIs"; + } else if (!msg3d_fused_) { + level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + message = "Fused output msg is not published as msg3d is missed"; + } + + stat.summary(level, message); + + // Reset status flags + publish_output_msg_ = false; + drop_previous_but_late_output_msg_ = false; + msg3d_fused_ = true; + } else { + stat.summary( + diagnostic_msgs::msg::DiagnosticStatus::OK, + "Fusion node launched successfully, but waiting for input pointcloud"); } - pub_ptr_->publish(output_msg); } // Explicit instantiation for the supported types diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp index 4becd1f587a8e..a74a36880ee6d 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -157,8 +157,8 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt // subscriber std::function sub_callback = - std::bind(&PointPaintingFusionNode::subCallback, this, std::placeholders::_1); - det3d_sub_ = this->create_subscription( + std::bind(&PointPaintingFusionNode::sub_callback, this, std::placeholders::_1); + msg3d_sub_ = this->create_subscription( "~/input/pointcloud", rclcpp::SensorDataQoS().keep_last(3), sub_callback); // publisher @@ -258,9 +258,9 @@ void PointPaintingFusionNode::preprocess(PointCloudMsgType & painted_pointcloud_ static_cast(painted_pointcloud_msg.data.size() / painted_pointcloud_msg.height); } -void PointPaintingFusionNode::fuseOnSingleImage( +void PointPaintingFusionNode::fuse_on_single_image( __attribute__((unused)) const PointCloudMsgType & input_pointcloud_msg, - const Det2dStatus & det2d, const RoiMsgType & input_roi_msg, + const Det2dStatus & det2d_status, const RoiMsgType & input_rois_msg, PointCloudMsgType & painted_pointcloud_msg) { if (painted_pointcloud_msg.data.empty() || painted_pointcloud_msg.fields.empty()) { @@ -269,7 +269,7 @@ void PointPaintingFusionNode::fuseOnSingleImage( return; } - auto num_bbox = (input_roi_msg.feature_objects).size(); + auto num_bbox = (input_rois_msg.feature_objects).size(); if (num_bbox == 0) { return; } @@ -285,8 +285,8 @@ void PointPaintingFusionNode::fuseOnSingleImage( Eigen::Affine3f lidar2cam_affine; { const auto transform_stamped_optional = getTransformStamped( - tf_buffer_, /*target*/ input_roi_msg.header.frame_id, - /*source*/ painted_pointcloud_msg.header.frame_id, input_roi_msg.header.stamp); + tf_buffer_, /*target*/ input_rois_msg.header.frame_id, + /*source*/ painted_pointcloud_msg.header.frame_id, input_rois_msg.header.stamp); if (!transform_stamped_optional) { return; } @@ -314,7 +314,7 @@ dc | dc dc dc dc ||zc| |dc| **/ - auto objects = input_roi_msg.feature_objects; + auto objects = input_rois_msg.feature_objects; int iterations = painted_pointcloud_msg.data.size() / painted_pointcloud_msg.point_step; // iterate points // Requires 'OMP_NUM_THREADS=N' @@ -338,13 +338,13 @@ dc | dc dc dc dc ||zc| p_y = point_camera.y(); p_z = point_camera.z(); - if (det2d.camera_projector_ptr->isOutsideHorizontalView(p_x, p_z)) { + if (det2d_status.camera_projector_ptr->isOutsideHorizontalView(p_x, p_z)) { continue; } // project Eigen::Vector2d projected_point; - if (det2d.camera_projector_ptr->calcImageProjectedPoint( + if (det2d_status.camera_projector_ptr->calcImageProjectedPoint( cv::Point3d(p_x, p_y, p_z), projected_point)) { // iterate 2d bbox for (const auto & feature_object : objects) { @@ -373,7 +373,7 @@ dc | dc dc dc dc ||zc| if (time_keeper_) inner_st_ptr = std::make_unique("publish debug message", *time_keeper_); - for (const auto & feature_object : input_roi_msg.feature_objects) { + for (const auto & feature_object : input_rois_msg.feature_objects) { debug_image_rois.push_back(feature_object.feature.roi); } @@ -383,7 +383,7 @@ dc | dc dc dc dc ||zc| debugger_->image_rois_ = debug_image_rois; debugger_->obstacle_points_ = debug_image_points; - debugger_->publishImage(det2d.id, input_roi_msg.header.stamp); + debugger_->publishImage(det2d_status.id, input_rois_msg.header.stamp); } } } diff --git a/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp index 374357b0bc181..1d8bc3fc7656e 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp @@ -73,14 +73,15 @@ void RoiClusterFusionNode::preprocess(ClusterMsgType & output_cluster_msg) } } -void RoiClusterFusionNode::fuseOnSingleImage( - const ClusterMsgType & input_cluster_msg, const Det2dStatus & det2d, - const RoiMsgType & input_roi_msg, ClusterMsgType & output_cluster_msg) +void RoiClusterFusionNode::fuse_on_single_image( + const ClusterMsgType & input_cluster_msg, const Det2dStatus & det2d_status, + const RoiMsgType & input_rois_msg, ClusterMsgType & output_cluster_msg) { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - const sensor_msgs::msg::CameraInfo & camera_info = det2d.camera_projector_ptr->getCameraInfo(); + const sensor_msgs::msg::CameraInfo & camera_info = + det2d_status.camera_projector_ptr->getCameraInfo(); // get transform from cluster frame id to camera optical frame id geometry_msgs::msg::TransformStamped transform_stamped; @@ -129,7 +130,7 @@ void RoiClusterFusionNode::fuseOnSingleImage( } Eigen::Vector2d projected_point; - if (det2d.camera_projector_ptr->calcImageProjectedPoint( + if (det2d_status.camera_projector_ptr->calcImageProjectedPoint( cv::Point3d(*iter_x, *iter_y, *iter_z), projected_point)) { const int px = static_cast(projected_point.x()); const int py = static_cast(projected_point.y()); @@ -156,7 +157,7 @@ void RoiClusterFusionNode::fuseOnSingleImage( if (debugger_) debugger_->obstacle_rois_.push_back(roi); } - for (const auto & feature_obj : input_roi_msg.feature_objects) { + for (const auto & feature_obj : input_rois_msg.feature_objects) { int index = -1; bool associated = false; double max_iou = 0.0; @@ -210,7 +211,7 @@ void RoiClusterFusionNode::fuseOnSingleImage( // note: debug objects are safely cleared in fusion_node.cpp if (debugger_) { - debugger_->publishImage(det2d.id, input_roi_msg.header.stamp); + debugger_->publishImage(det2d_status.id, input_rois_msg.header.stamp); } } diff --git a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp index f01353d0265cd..12fd576da97fc 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp @@ -83,9 +83,9 @@ void RoiDetectedObjectFusionNode::preprocess(DetectedObjects & output_msg) ignored_object_flags_map_.insert(std::make_pair(timestamp_nsec, ignored_object_flags)); } -void RoiDetectedObjectFusionNode::fuseOnSingleImage( - const DetectedObjects & input_object_msg, const Det2dStatus & det2d, - const RoiMsgType & input_roi_msg, DetectedObjects & output_object_msg __attribute__((unused))) +void RoiDetectedObjectFusionNode::fuse_on_single_image( + const DetectedObjects & input_object_msg, const Det2dStatus & det2d_status, + const RoiMsgType & input_rois_msg, DetectedObjects & output_object_msg __attribute__((unused))) { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); @@ -93,8 +93,8 @@ void RoiDetectedObjectFusionNode::fuseOnSingleImage( Eigen::Affine3d object2camera_affine; { const auto transform_stamped_optional = getTransformStamped( - tf_buffer_, /*target*/ input_roi_msg.header.frame_id, - /*source*/ input_object_msg.header.frame_id, input_roi_msg.header.stamp); + tf_buffer_, /*target*/ input_rois_msg.header.frame_id, + /*source*/ input_object_msg.header.frame_id, input_rois_msg.header.stamp); if (!transform_stamped_optional) { return; } @@ -102,21 +102,21 @@ void RoiDetectedObjectFusionNode::fuseOnSingleImage( } const auto object_roi_map = - generateDetectedObjectRoIs(input_object_msg, det2d, object2camera_affine); - fuseObjectsOnImage(input_object_msg, input_roi_msg.feature_objects, object_roi_map); + generateDetectedObjectRoIs(input_object_msg, det2d_status, object2camera_affine); + fuseObjectsOnImage(input_object_msg, input_rois_msg.feature_objects, object_roi_map); if (debugger_) { - debugger_->image_rois_.reserve(input_roi_msg.feature_objects.size()); - for (std::size_t roi_i = 0; roi_i < input_roi_msg.feature_objects.size(); ++roi_i) { - debugger_->image_rois_.push_back(input_roi_msg.feature_objects.at(roi_i).feature.roi); + debugger_->image_rois_.reserve(input_rois_msg.feature_objects.size()); + for (std::size_t roi_i = 0; roi_i < input_rois_msg.feature_objects.size(); ++roi_i) { + debugger_->image_rois_.push_back(input_rois_msg.feature_objects.at(roi_i).feature.roi); } - debugger_->publishImage(det2d.id, input_roi_msg.header.stamp); + debugger_->publishImage(det2d_status.id, input_rois_msg.header.stamp); } } std::map RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( - const DetectedObjects & input_object_msg, const Det2dStatus & det2d, + const DetectedObjects & input_object_msg, const Det2dStatus & det2d_status, const Eigen::Affine3d & object2camera_affine) { std::unique_ptr st_ptr; @@ -132,7 +132,8 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( return object_roi_map; } const auto & passthrough_object_flags = passthrough_object_flags_map_.at(timestamp_nsec); - const sensor_msgs::msg::CameraInfo & camera_info = det2d.camera_projector_ptr->getCameraInfo(); + const sensor_msgs::msg::CameraInfo & camera_info = + det2d_status.camera_projector_ptr->getCameraInfo(); const double image_width = static_cast(camera_info.width); const double image_height = static_cast(camera_info.height); @@ -163,7 +164,7 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( } Eigen::Vector2d proj_point; - if (det2d.camera_projector_ptr->calcImageProjectedPoint( + if (det2d_status.camera_projector_ptr->calcImageProjectedPoint( cv::Point3d(point.x(), point.y(), point.z()), proj_point)) { const double px = proj_point.x(); const double py = proj_point.y(); diff --git a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp index e6596a9e28602..c0a87be0a8684 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp @@ -49,9 +49,9 @@ RoiPointCloudFusionNode::RoiPointCloudFusionNode(const rclcpp::NodeOptions & opt cluster_debug_pub_ = this->create_publisher("debug/clusters", 1); } -void RoiPointCloudFusionNode::fuseOnSingleImage( - const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus & det2d, - const RoiMsgType & input_roi_msg, +void RoiPointCloudFusionNode::fuse_on_single_image( + const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus & det2d_status, + const RoiMsgType & input_rois_msg, __attribute__((unused)) PointCloudMsgType & output_pointcloud_msg) { std::unique_ptr st_ptr; @@ -65,7 +65,7 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( std::vector debug_image_rois; std::vector debug_image_points; // select ROIs for fusion - for (const auto & feature_obj : input_roi_msg.feature_objects) { + for (const auto & feature_obj : input_rois_msg.feature_objects) { if (fuse_unknown_only_) { bool is_roi_label_unknown = feature_obj.object.classification.front().label == autoware_perception_msgs::msg::ObjectClassification::UNKNOWN; @@ -86,7 +86,7 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( if (debugger_) { debugger_->image_rois_ = debug_image_rois; debugger_->obstacle_points_ = debug_image_points; - debugger_->publishImage(det2d.id, input_roi_msg.header.stamp); + debugger_->publishImage(det2d_status.id, input_rois_msg.header.stamp); } return; } @@ -94,8 +94,8 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( geometry_msgs::msg::TransformStamped transform_stamped; { const auto transform_stamped_optional = getTransformStamped( - tf_buffer_, input_roi_msg.header.frame_id, input_pointcloud_msg.header.frame_id, - input_roi_msg.header.stamp); + tf_buffer_, input_rois_msg.header.frame_id, input_pointcloud_msg.header.frame_id, + input_rois_msg.header.stamp); if (!transform_stamped_optional) { return; } @@ -134,7 +134,7 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( } Eigen::Vector2d projected_point; - if (det2d.camera_projector_ptr->calcImageProjectedPoint( + if (det2d_status.camera_projector_ptr->calcImageProjectedPoint( cv::Point3d(transformed_x, transformed_y, transformed_z), projected_point)) { for (std::size_t i = 0; i < output_objs.size(); ++i) { auto & feature_obj = output_objs.at(i); @@ -169,14 +169,14 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( // refine and update output_fused_objects_ updateOutputFusedObjects( - output_objs, clusters, clusters_data_size, input_pointcloud_msg, input_roi_msg.header, + output_objs, clusters, clusters_data_size, input_pointcloud_msg, input_rois_msg.header, tf_buffer_, min_cluster_size_, max_cluster_size_, cluster_2d_tolerance_, output_fused_objects_); // publish debug image if (debugger_) { debugger_->image_rois_ = debug_image_rois; debugger_->obstacle_points_ = debug_image_points; - debugger_->publishImage(det2d.id, input_roi_msg.header.stamp); + debugger_->publishImage(det2d_status.id, input_rois_msg.header.stamp); } } diff --git a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp index 0cb3b7cb3c65f..a4b7d36b23eec 100644 --- a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp @@ -62,8 +62,8 @@ void SegmentPointCloudFusionNode::preprocess(__attribute__((unused)) return; } -void SegmentPointCloudFusionNode::fuseOnSingleImage( - const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus & det2d, +void SegmentPointCloudFusionNode::fuse_on_single_image( + const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus & det2d_status, [[maybe_unused]] const Image & input_mask, __attribute__((unused)) PointCloudMsgType & output_cloud) { @@ -77,7 +77,8 @@ void SegmentPointCloudFusionNode::fuseOnSingleImage( return; } - const sensor_msgs::msg::CameraInfo & camera_info = det2d.camera_projector_ptr->getCameraInfo(); + const sensor_msgs::msg::CameraInfo & camera_info = + det2d_status.camera_projector_ptr->getCameraInfo(); std::vector mask_data(input_mask.data.begin(), input_mask.data.end()); cv::Mat mask = perception_utils::runLengthDecoder(mask_data, input_mask.height, input_mask.width); @@ -127,7 +128,7 @@ void SegmentPointCloudFusionNode::fuseOnSingleImage( } Eigen::Vector2d projected_point; - if (!det2d.camera_projector_ptr->calcImageProjectedPoint( + if (!det2d_status.camera_projector_ptr->calcImageProjectedPoint( cv::Point3d(transformed_x, transformed_y, transformed_z), projected_point)) { continue; } @@ -151,6 +152,7 @@ void SegmentPointCloudFusionNode::postprocess( std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + output_msg = pointcloud_msg; output_msg.header = pointcloud_msg.header; output_msg.data.clear(); output_msg.data.resize(pointcloud_msg.data.size()); @@ -165,8 +167,14 @@ void SegmentPointCloudFusionNode::postprocess( } output_msg.data.resize(output_pointcloud_size); - output_msg.row_step = output_pointcloud_size / output_msg.height; - output_msg.width = output_pointcloud_size / output_msg.point_step / output_msg.height; + if (output_msg.height != 0 && output_msg.point_step != 0) { + output_msg.row_step = output_pointcloud_size / output_msg.height; + output_msg.width = output_pointcloud_size / output_msg.point_step / output_msg.height; + } else { + RCLCPP_ERROR(this->get_logger(), "output_msg.height or output_msg.point_step is 0"); + output_msg.row_step = 0; + output_msg.width = 0; + } filter_global_offset_set_.clear(); return; diff --git a/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp b/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp index 3bc4290fe991c..1ac1a4d11076c 100644 --- a/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp +++ b/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp @@ -22,7 +22,7 @@ namespace autoware::image_projection_based_fusion { -bool checkCameraInfo(const sensor_msgs::msg::CameraInfo & camera_info) +bool check_camera_info(const sensor_msgs::msg::CameraInfo & camera_info) { const bool is_supported_model = (camera_info.distortion_model == sensor_msgs::distortion_models::PLUMB_BOB || @@ -30,7 +30,7 @@ bool checkCameraInfo(const sensor_msgs::msg::CameraInfo & camera_info) if (!is_supported_model) { RCLCPP_ERROR_STREAM( rclcpp::get_logger("image_projection_based_fusion"), - "checkCameraInfo: Unsupported distortion model: " << camera_info.distortion_model); + "check_camera_info: Unsupported distortion model: " << camera_info.distortion_model); return false; } const bool is_supported_distortion_param = @@ -38,7 +38,7 @@ bool checkCameraInfo(const sensor_msgs::msg::CameraInfo & camera_info) if (!is_supported_distortion_param) { RCLCPP_ERROR_STREAM( rclcpp::get_logger("image_projection_based_fusion"), - "checkCameraInfo: Unsupported distortion coefficients size: " << camera_info.d.size()); + "check_camera_info: Unsupported distortion coefficients size: " << camera_info.d.size()); return false; } return true; diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst index b5a83892c6dc3..9e41b250af854 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst +++ b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst @@ -2,15 +2,22 @@ Changelog for package autoware_lidar_apollo_instance_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,10 +26,10 @@ Changelog for package autoware_lidar_apollo_instance_segmentation 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_lidar_apollo_instance_segmentation): tier4_debug_msgs to autoware_internal_debug_msgs in files perce… (`#9876 `_) +* feat(autoware_lidar_apollo_instance_segmentation): tier4_debug_msgs to autoware_internal_debug_msgs in files perce… (`#9876 `_) feat: tier4_debug_msgs to autoware_internal_debug_msgs in files perception/autoware_lidar_apollo_instance_segmentation Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components * style(pre-commit): autofix * style(autoware_tensorrt_common): linting @@ -55,51 +62,51 @@ Changelog for package autoware_lidar_apollo_instance_segmentation 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -107,14 +114,14 @@ Changelog for package autoware_lidar_apollo_instance_segmentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(autoware_lidar_apollo_instance_segmentation): added existence probability (`#8862 `_) +* fix(autoware_lidar_apollo_instance_segmentation): added existence probability (`#8862 `_) * added existence probability * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(lidar_apollo_instance_segmentation): fix critical bug (`#8444 `_) +* fix(lidar_apollo_instance_segmentation): fix critical bug (`#8444 `_) Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> -* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) +* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) * refactor: add autoware namespace prefix * chore: update CODEOWNERS * refactor: add `autoware` prefix diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml index 4ce3b0872fa85..d32c68be979a1 100755 --- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml +++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_lidar_apollo_instance_segmentation - 0.42.0 + 0.43.0 autoware_lidar_apollo_instance_segmentation Yoshi Ri Yukihiro Saito @@ -13,6 +13,7 @@ ament_cmake + autoware_cuda_dependency_meta autoware_cuda_utils autoware_internal_debug_msgs autoware_perception_msgs diff --git a/perception/autoware_lidar_centerpoint/CHANGELOG.rst b/perception/autoware_lidar_centerpoint/CHANGELOG.rst index fe1d479be645d..dc8ce63f69ad2 100644 --- a/perception/autoware_lidar_centerpoint/CHANGELOG.rst +++ b/perception/autoware_lidar_centerpoint/CHANGELOG.rst @@ -2,16 +2,23 @@ Changelog for package autoware_lidar_centerpoint ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore(autoware_lidar_centerpoint): add maintainer (`#10076 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore(autoware_lidar_centerpoint): add maintainer (`#10076 `_) * Contributors: Amadeusz Szymko, Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,7 +27,7 @@ Changelog for package autoware_lidar_centerpoint 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components * style(pre-commit): autofix * style(autoware_tensorrt_common): linting @@ -48,10 +55,10 @@ Changelog for package autoware_lidar_centerpoint Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* feat(lidar_centerpoint, pointpainting): add diag publisher for max voxel size (`#9720 `_) -* fix(autoware_lidar_centerpoint): fixed rounding errors that caused illegal memory access (`#9795 `_) +* feat(lidar_centerpoint, pointpainting): add diag publisher for max voxel size (`#9720 `_) +* fix(autoware_lidar_centerpoint): fixed rounding errors that caused illegal memory access (`#9795 `_) fix: fixed rounding errors that caused illegal memory address -* feat(autoware_lidar_centerpoint): process front voxels first (`#9608 `_) +* feat(autoware_lidar_centerpoint): process front voxels first (`#9608 `_) * feat: optimize voxel indexing in preprocess_kernel.cu * fix: remove redundant index check * fix: modify voxel index for better memory access @@ -61,9 +68,9 @@ Changelog for package autoware_lidar_centerpoint 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix(lidar_centerpoint): non-maximum suppression target decision logic (`#9595 `_) +* fix(lidar_centerpoint): non-maximum suppression target decision logic (`#9595 `_) * refactor(lidar_centerpoint): optimize non-maximum suppression search distance calculation * feat(lidar_centerpoint): do not suppress if one side of the object is pedestrian * style(pre-commit): autofix @@ -76,27 +83,27 @@ Changelog for package autoware_lidar_centerpoint fix: revert transfusion modification --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* fix(autoware_lidar_centerpoint): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9515 `_) -* feat(autoware_lidar_centerpoint): added a check to notify if we are dropping pillars (`#9488 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_lidar_centerpoint): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9515 `_) +* feat(autoware_lidar_centerpoint): added a check to notify if we are dropping pillars (`#9488 `_) * feat: added a check to notify if we are dropping pillars * chore: updated text * chore: throttled the message --------- -* fix(autoware_lidar_centerpoint): fix clang-diagnostic-unused-private-field (`#9471 `_) +* fix(autoware_lidar_centerpoint): fix clang-diagnostic-unused-private-field (`#9471 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -106,9 +113,9 @@ Changelog for package autoware_lidar_centerpoint 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -119,7 +126,7 @@ Changelog for package autoware_lidar_centerpoint 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -127,19 +134,19 @@ Changelog for package autoware_lidar_centerpoint --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_lidar_centerpoint): fix twist covariance orientation (`#8996 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_lidar_centerpoint): fix twist covariance orientation (`#8996 `_) * fix(autoware_lidar_centerpoint): fix covariance converter considering the twist covariance matrix is based on the object coordinate fix style * fix: update test of box3DToDetectedObject function --------- -* fix(autoware_lidar_centerpoint): convert object's velocity to follow its definition (`#8980 `_) +* fix(autoware_lidar_centerpoint): convert object's velocity to follow its definition (`#8980 `_) * fix: convert object's velocity to follow its definition in box3DToDetectedObject function * Update perception/autoware_lidar_centerpoint/lib/ros_utils.cpp Co-authored-by: Kenzo Lobos Tsunekawa --------- Co-authored-by: Kenzo Lobos Tsunekawa -* feat(autoware_lidar_centerpoint): shuffled points before feeding them to the model (`#8814 `_) +* feat(autoware_lidar_centerpoint): shuffled points before feeding them to the model (`#8814 `_) * feat: shuffling points before feeding them into the model to achieve uniform sampling into the voxels * Update perception/autoware_lidar_centerpoint/src/node.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> @@ -151,20 +158,20 @@ Changelog for package autoware_lidar_centerpoint Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t (`#8820 `_) +* refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t (`#8820 `_) * refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_lidar_centerpoint): add centerpoint sigma parameter (`#8731 `_) +* chore(autoware_lidar_centerpoint): add centerpoint sigma parameter (`#8731 `_) add centerpoint sigma parameter -* fix(autoware_lidar_centerpoint): fix unusedFunction (`#8572 `_) +* fix(autoware_lidar_centerpoint): fix unusedFunction (`#8572 `_) fix:unusedFunction -* fix(autoware_lidar_centerpoint): place device vector in CUDA device system (`#8272 `_) -* docs(centerpoint): add description for ml package params (`#8187 `_) -* chore(autoware_lidar_centerpoint): updated tests (`#8158 `_) +* fix(autoware_lidar_centerpoint): place device vector in CUDA device system (`#8272 `_) +* docs(centerpoint): add description for ml package params (`#8187 `_) +* chore(autoware_lidar_centerpoint): updated tests (`#8158 `_) chore: updated centerpoin tests. they are currently commented out but they were not compiling (forgot to update them when I added the new cloud capacity parameter) -* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) +* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) * add prefix in lidar_centerpoint * add .gitignore * change include package name in image_projection_based fusion diff --git a/perception/autoware_lidar_centerpoint/CMakeLists.txt b/perception/autoware_lidar_centerpoint/CMakeLists.txt index 322907c67c6ae..a2e9e65822793 100644 --- a/perception/autoware_lidar_centerpoint/CMakeLists.txt +++ b/perception/autoware_lidar_centerpoint/CMakeLists.txt @@ -159,7 +159,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ) # Temporary disabled, tracked by: - # https://github.com/autowarefoundation/autoware.universe/issues/7724 + # https://github.com/autowarefoundation/autoware_universe/issues/7724 # ament_auto_add_gtest(test_voxel_generator # test/test_voxel_generator.cpp # ) diff --git a/perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml index 639502d52806a..75f777df4dbf1 100644 --- a/perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml +++ b/perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml @@ -22,7 +22,7 @@ - + @@ -35,7 +35,7 @@ - + diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml index 2354a5f678688..ed8a8984db40e 100644 --- a/perception/autoware_lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -2,7 +2,7 @@ autoware_lidar_centerpoint - 0.42.0 + 0.43.0 The autoware_lidar_centerpoint package Kenzo Lobos-Tsunekawa Koji Minoda @@ -13,6 +13,7 @@ ament_cmake_python autoware_cmake + autoware_cuda_dependency_meta autoware_object_recognition_utils autoware_perception_msgs autoware_tensorrt_common diff --git a/perception/autoware_lidar_transfusion/CHANGELOG.rst b/perception/autoware_lidar_transfusion/CHANGELOG.rst index d51e877ce4f9e..350e123fa2451 100644 --- a/perception/autoware_lidar_transfusion/CHANGELOG.rst +++ b/perception/autoware_lidar_transfusion/CHANGELOG.rst @@ -2,15 +2,22 @@ Changelog for package autoware_lidar_transfusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +26,7 @@ Changelog for package autoware_lidar_transfusion 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components * style(pre-commit): autofix * style(autoware_tensorrt_common): linting @@ -47,7 +54,7 @@ Changelog for package autoware_lidar_transfusion Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* fix(autoware_lidar_transfusion): fixed rounding errors that caused illegal memory access (`#9796 `_) +* fix(autoware_lidar_transfusion): fixed rounding errors that caused illegal memory access (`#9796 `_) fix: fixed rounding errors that caused illegal memory address Co-authored-by: Amadeusz Szymko * Contributors: Amadeusz Szymko, Fumiya Watanabe, Kenzo Lobos Tsunekawa @@ -55,29 +62,29 @@ Changelog for package autoware_lidar_transfusion 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix(autoware_lidar_transfusion): non-maximum suppression target decision logic (`#9612 `_) +* fix(autoware_lidar_transfusion): non-maximum suppression target decision logic (`#9612 `_) fix: non-maximum suppression target decision logic -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* chore(autoware_lidar_transfusion): added a warning if we are dropping voxels (`#9486 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* chore(autoware_lidar_transfusion): added a warning if we are dropping voxels (`#9486 `_) * chore: added a warning if we are dropping voxels * chore: changed the warning to a throttled one --------- -* fix(autoware_lidar_transfusion): fix clang-diagnostic-unused-private-field (`#9499 `_) +* fix(autoware_lidar_transfusion): fix clang-diagnostic-unused-private-field (`#9499 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -87,9 +94,9 @@ Changelog for package autoware_lidar_transfusion 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -100,8 +107,8 @@ Changelog for package autoware_lidar_transfusion 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 `_) -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -109,8 +116,8 @@ Changelog for package autoware_lidar_transfusion --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_lidar_transfusion): set tensor names by matching with predefined values. (`#9057 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_lidar_transfusion): set tensor names by matching with predefined values. (`#9057 `_) * set tensor order using api * style(pre-commit): autofix * fix tensor order @@ -119,26 +126,26 @@ Changelog for package autoware_lidar_transfusion * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_lidar _ransfusion): fix 3d bounding box orientation (`#9052 `_) +* feat(autoware_lidar _ransfusion): fix 3d bounding box orientation (`#9052 `_) * fix bbox orientation * revert newline changes * change kernel --------- Co-authored-by: Amadeusz Szymko -* feat(autoware_lidar_transfusion): shuffled points before feeding them to the model (`#8815 `_) +* feat(autoware_lidar_transfusion): shuffled points before feeding them to the model (`#8815 `_) feat: shuffling points before feeding them into the model to achieve random sampling into the voxels Co-authored-by: Amadeusz Szymko -* refactor(autoware_lidar_transfusion): split config (`#8205 `_) +* refactor(autoware_lidar_transfusion): split config (`#8205 `_) * refactor(autoware_lidar_transfusion): split config * style(pre-commit): autofix * chore(autoware_lidar_transfusion): bypass schema CI workflow --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(autoware_lidar_transfusion): place device vector in CUDA device system (`#8273 `_) -* fix(lidar_transfusion): commented tests were out of date (`#8116 `_) +* fix(autoware_lidar_transfusion): place device vector in CUDA device system (`#8273 `_) +* fix(lidar_transfusion): commented tests were out of date (`#8116 `_) chore: commented tests were out of date -* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) +* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) * add prefix * add prefix in code owner * style(pre-commit): autofix diff --git a/perception/autoware_lidar_transfusion/CMakeLists.txt b/perception/autoware_lidar_transfusion/CMakeLists.txt index fdb978c64946f..d1c43af9db90f 100644 --- a/perception/autoware_lidar_transfusion/CMakeLists.txt +++ b/perception/autoware_lidar_transfusion/CMakeLists.txt @@ -154,7 +154,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ) # Temporary disabled, tracked by: - # https://github.com/autowarefoundation/autoware.universe/issues/7724 + # https://github.com/autowarefoundation/autoware_universe/issues/7724 # ament_auto_add_gtest(test_voxel_generator # test/test_voxel_generator.cpp # ) diff --git a/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml b/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml index 81d9a38941fc4..bac32411d831f 100644 --- a/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml +++ b/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml @@ -23,7 +23,7 @@ - + @@ -36,7 +36,7 @@ - + diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml index 34b6a759cf843..169a2f59c75c6 100644 --- a/perception/autoware_lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -2,7 +2,7 @@ autoware_lidar_transfusion - 0.42.0 + 0.43.0 The lidar_transfusion package Amadeusz Szymko Kenzo Lobos-Tsunekawa @@ -12,6 +12,7 @@ ament_cmake_auto autoware_cmake + autoware_cuda_dependency_meta autoware_object_recognition_utils autoware_perception_msgs autoware_point_types diff --git a/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json b/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json index 739c641b7cefb..20b74d80adc54 100644 --- a/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json +++ b/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json @@ -1,7 +1,7 @@ { "$schema": "http://json-schema.org/draft-07/schema#", "title": "Parameters for LiDAR TransFusion Node", - "$comment": "This schema is not considered in CI workflow. See https://github.com/autowarefoundation/autoware.universe/pull/8205#issuecomment-2255074224.", + "$comment": "This schema is not considered in CI workflow. See https://github.com/autowarefoundation/autoware_universe/pull/8205#issuecomment-2255074224.", "type": "object", "definitions": { "transfusion": { diff --git a/perception/autoware_map_based_prediction/CHANGELOG.rst b/perception/autoware_map_based_prediction/CHANGELOG.rst index dd9eb567534c2..1a463ba5bb22f 100644 --- a/perception/autoware_map_based_prediction/CHANGELOG.rst +++ b/perception/autoware_map_based_prediction/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_map_based_prediction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore(autoware_map_based_prediction): delete unused function and parameter (`#10090 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore(autoware_map_based_prediction): delete unused function and parameter (`#10090 `_) * Contributors: Fumiya Watanabe, Tomoya Kimura, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,41 +26,41 @@ Changelog for package autoware_map_based_prediction 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(map_based_prediction): fix unintentional accumulation of lanelets (`#9950 `_) +* fix(map_based_prediction): fix unintentional accumulation of lanelets (`#9950 `_) add clear before insert -* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9875 `_) +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9875 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_map_based_prediction * Contributors: Fumiya Watanabe, Masaki Baba, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* fix(autoware_map_based_prediction): msg namespace (`#9553 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_map_based_prediction): msg namespace (`#9553 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(map_based_prediction): move member functions to utils (`#9225 `_) -* refactor(map_based_prediction): divide objectsCallback (`#9219 `_) -* refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) +* refactor(map_based_prediction): move member functions to utils (`#9225 `_) +* refactor(map_based_prediction): divide objectsCallback (`#9219 `_) +* refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) * refactor: grouping functions * refactor: grouping parameters * refactor: rename member road_users_history to road_users_history\_ @@ -74,17 +80,17 @@ Changelog for package autoware_map_based_prediction 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(map_based_prediction): move member functions to utils (`#9225 `_) -* refactor(map_based_prediction): divide objectsCallback (`#9219 `_) -* refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) +* refactor(map_based_prediction): move member functions to utils (`#9225 `_) +* refactor(map_based_prediction): divide objectsCallback (`#9219 `_) +* refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) * refactor: grouping functions * refactor: grouping parameters * refactor: rename member road_users_history to road_users_history\_ @@ -104,7 +110,7 @@ Changelog for package autoware_map_based_prediction 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_map_based_prediction): refactoring lanelet path prediction and pose path conversion (`#9104 `_) +* refactor(autoware_map_based_prediction): refactoring lanelet path prediction and pose path conversion (`#9104 `_) * refactor: update predictObjectManeuver function parameters * refactor: update hash function for LaneletPath in map_based_prediction_node.hpp * refactor: path list rename @@ -116,14 +122,14 @@ Changelog for package autoware_map_based_prediction * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp --------- Co-authored-by: Mamoru Sobue -* chore(autoware_map_based_prediction): add maintainers to package.xml (`#9125 `_) +* chore(autoware_map_based_prediction): add maintainers to package.xml (`#9125 `_) chore: add maintainers to package.xml The package.xml file was updated to include additional maintainers' email addresses. -* fix(autoware_map_based_prediction): adjust lateral duration when object is behind reference path (`#8973 `_) +* fix(autoware_map_based_prediction): adjust lateral duration when object is behind reference path (`#8973 `_) fix: adjust lateral duration when object is behind reference path -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(autoware_map_based_prediction): improve frenet path generation (`#8811 `_) +* feat(autoware_map_based_prediction): improve frenet path generation (`#8811 `_) * feat: calculate terminal d position based on playable width in path_generator.cpp * feat: Add width parameter path generations refactor(path_generator): improve backlash width calculation @@ -170,10 +176,10 @@ Changelog for package autoware_map_based_prediction * fix: object orientation calculation is added to the predicted path generation * chore: fix spell-check --------- -* revert(autoware_map_based_prediction): revert improve frenet path gen (`#8808 `_) - Revert "feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_)" +* revert(autoware_map_based_prediction): revert improve frenet path gen (`#8808 `_) + Revert "feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_)" This reverts commit 67265bbd60c85282c1c3cf65e603098e0c30c477. -* feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_) +* feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_) * feat: calculate terminal d position based on playable width in path_generator.cpp * feat: Add width parameter path generations refactor(path_generator): improve backlash width calculation @@ -218,14 +224,14 @@ Changelog for package autoware_map_based_prediction * refactor: separate a logic to searchProperStartingRefPathIndex function * refactor: search starting ref path using optional for return type --------- -* perf(autoware_map_based_prediction): replace pow (`#8751 `_) -* fix(autoware_map_based_prediction): output from screen to both (`#8408 `_) -* perf(autoware_map_based_prediction): removed duplicate findNearest calculations (`#8490 `_) -* perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation (`#8471 `_) +* perf(autoware_map_based_prediction): replace pow (`#8751 `_) +* fix(autoware_map_based_prediction): output from screen to both (`#8408 `_) +* perf(autoware_map_based_prediction): removed duplicate findNearest calculations (`#8490 `_) +* perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation (`#8471 `_) * fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks * perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation --------- -* refactor(autoware_map_based_prediction): map based pred time keeper ptr (`#8462 `_) +* refactor(autoware_map_based_prediction): map based pred time keeper ptr (`#8462 `_) * refactor(map_based_prediction): implement time keeper by pointer * feat(map_based_prediction): set time keeper in path generator * feat: use scoped time track only when the timekeeper ptr is not null @@ -234,16 +240,16 @@ Changelog for package autoware_map_based_prediction * chore: remove unnecessary ScopedTimeTrack instances * feat: replace member to pointer --------- -* fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks (`#8467 `_) -* perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType (`#8461 `_) +* fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks (`#8467 `_) +* perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType (`#8461 `_) feat(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType -* perf(map_based_prediction): improve world to map transform calculation (`#8413 `_) +* perf(map_based_prediction): improve world to map transform calculation (`#8413 `_) * perf(map_based_prediction): improve world to map transform calculation 1. remove unused transforms 2. make transform loading late as possible * perf(map_based_prediction): get transform only when it is necessary --------- -* perf(autoware_map_based_prediction): improve orientation calculation and resample converted path (`#8427 `_) +* perf(autoware_map_based_prediction): improve orientation calculation and resample converted path (`#8427 `_) * refactor: improve orientation calculation and resample converted path with linear interpolation Simplify the calculation of the orientation for each pose in the convertPathType function by directly calculating the sine and cosine of half the yaw angle. This improves efficiency and readability. Also, improve the resampling of the converted path by using linear interpolation for better performance. * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -253,12 +259,12 @@ Changelog for package autoware_map_based_prediction --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* perf(map_based_prediction): apply lerp instead of spline (`#8416 `_) +* perf(map_based_prediction): apply lerp instead of spline (`#8416 `_) perf: apply lerp interpolation instead of spline -* revert (map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" (`#8417 `_) - Revert "perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" +* revert (map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" (`#8417 `_) + Revert "perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" This reverts commit 147403f1765346be9c5a3273552d86133298a899. -* perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_) +* perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_) * refactor: improve orientation calculation in MapBasedPredictionNode Simplify the calculation of the orientation for each pose in the convertPathType function. Instead of using the atan2 function, calculate the sine and cosine of half the yaw angle directly. This improves the efficiency and readability of the code. * refactor: resample converted path with linear interpolation @@ -266,20 +272,20 @@ Changelog for package autoware_map_based_prediction the mark indicates true, but the function resamplePoseVector implementation is opposite. chore: write comment about use_akima_slpine_for_xy --------- -* perf(map_based_prediction): create a fence LineString layer and use rtree query (`#8406 `_) +* perf(map_based_prediction): create a fence LineString layer and use rtree query (`#8406 `_) use fence layer -* perf(map_based_prediction): remove unncessary withinRoadLanelet() (`#8403 `_) -* feat(map_based_prediction): filter surrounding crosswalks for pedestrians beforehand (`#8388 `_) +* perf(map_based_prediction): remove unncessary withinRoadLanelet() (`#8403 `_) +* feat(map_based_prediction): filter surrounding crosswalks for pedestrians beforehand (`#8388 `_) fix withinAnyCroswalk -* fix(autoware_map_based_prediction): fix argument order (`#8031 `_) +* fix(autoware_map_based_prediction): fix argument order (`#8031 `_) fix(autoware_map_based_prediction): fix argument order in call `getFrenetPoint()` Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* feat(map_based_prediction): add time_keeper (`#8176 `_) -* fix(autoware_map_based_prediction): fix shadowVariable (`#7934 `_) +* feat(map_based_prediction): add time_keeper (`#8176 `_) +* fix(autoware_map_based_prediction): fix shadowVariable (`#7934 `_) fix:shadowVariable -* perf(map_based_prediction): remove query on all fences linestrings (`#7237 `_) -* fix(autoware_map_based_prediction): fix syntaxError (`#7813 `_) +* perf(map_based_prediction): remove query on all fences linestrings (`#7237 `_) +* fix(autoware_map_based_prediction): fix syntaxError (`#7813 `_) * fix(autoware_map_based_prediction): fix syntaxError * style(pre-commit): autofix * fix spellcheck @@ -287,15 +293,15 @@ Changelog for package autoware_map_based_prediction * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(map based prediction): use polling subscriber (`#7397 `_) +* feat(map based prediction): use polling subscriber (`#7397 `_) feat(map_based_prediction): use polling subscriber -* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) +* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Kotaro Uetake, Mamoru Sobue, Maxime CLEMENT, Onur Can Yücedağ, Ryuta Kambe, Taekjin LEE, Takamasa Horibe, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kminoda, kobayu858 0.26.0 (2024-04-03) diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml index c7b7a217fddf8..05a036b63f9e9 100644 --- a/perception/autoware_map_based_prediction/package.xml +++ b/perception/autoware_map_based_prediction/package.xml @@ -2,7 +2,7 @@ autoware_map_based_prediction - 0.42.0 + 0.43.0 This package implements a map_based_prediction Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_multi_object_tracker/CHANGELOG.rst b/perception/autoware_multi_object_tracker/CHANGELOG.rst index 763218fd80679..f6ed123b48b59 100644 --- a/perception/autoware_multi_object_tracker/CHANGELOG.rst +++ b/perception/autoware_multi_object_tracker/CHANGELOG.rst @@ -2,15 +2,57 @@ Changelog for package autoware_multi_object_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(autoware_multi_object_tracker): unknown object orientation (`#10286 `_) + * fix(unknown_tracker): update object pose orientation and streamline uncertainty modeling in input manager + * fix(object_model): correct bounding box calculation by initializing limits and including min_z + --------- +* refactor(multi_object_tracker): internal message driven process (`#10203 `_) + * refactor(multi_object_tracker): streamline input channel configuration handling + feat(multi_object_tracker): introduce InputChannel struct for input channel configuration + refactor(multi_object_tracker): improve marker handling and initialization in TrackerObjectDebugger + feat(multi_object_tracker): enhance InputChannel with trust flags for object properties + refactor(multi_object_tracker): remove unused channel_size parameter from tracker constructors + feat(multi_object_tracker): update InputChannel flags to trust object extension and classification + fix(multi_object_tracker): replace channel.index with channel_index for consistency + feat(multi_object_tracker): update TrackerObjectDebugger and TrackerProcessor to accept channels_config parameter + refactor(multi_object_tracker): remove redundant existence probability initialization from tracker constructors + feat(multi_object_tracker): integrate data association into TrackerProcessor and add associate method + feat(multi_object_tracker): enhance updateWithMeasurement to include channel_info for improved classification handling + refactor(multi_object_tracker): replace object_id with uuid in DynamicObject and related classes + fix(multi_object_tracker): update UUID handling in Tracker to use uuid_msg for consistency + refactor(multi_object_tracker): simplify pose and covariance handling in tracker classes + refactor(multi_object_tracker): replace pose_with_covariance with separate pose and covariance attributes in DynamicObject + refactor: remove z state from tracker. it will uses object state + refactor(multi_object_tracker): streamline object handling in trackers and remove unnecessary shape processing + refactor(multi_object_tracker): remove z position handling from trackers and update object kinematics structure + refactor(multi_object_tracker): remove BoundingBox structure from trackers and implement object extension limits + refactor(multi_object_tracker): remove unnecessary blank lines in tracker getTrackedObject methods + refactor(multi_object_tracker): simplify input channel configuration by removing trust flags and consolidating parameters + * refactor(multi_object_tracker): use const reference in loop and simplify tracker update logic + * refactor(multi_object_tracker): update shape handling and streamline object tracking logic + * refactor(multi_object_tracker): update shape handling to use geometry_msgs::msg::Point for anchor vectors + * style(pre-commit): autofix + * refactor(multi_object_tracker): modify getNearestCornerOrSurface function signature and update related logic + refactor(multi_object_tracker): remove self_transform parameter from measure and update methods + refactor(multi_object_tracker): update calcAnchorPointOffset function signature and streamline object handling + refactor(multi_object_tracker): set shape type to BOUNDING_BOX for object trackers + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Hayato Mizushima, Taekjin LEE, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +61,7 @@ Changelog for package autoware_multi_object_tracker 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(multi_object_tracker): integrate odometry and transform processes (`#9912 `_) +* feat(multi_object_tracker): integrate odometry and transform processes (`#9912 `_) * feat: Add odometry processor to multi-object tracker * refactor: Refactor Odometry class for improved code organization and readability * feat: Refactor Odometry class for improved code organization and readability @@ -48,13 +90,13 @@ Changelog for package autoware_multi_object_tracker * refactor: Remove redundant code for updating tf cache in Odometry::updateTfCache * refactor: Update runProcess parameter name to detected_objects --------- -* feat: tier4_debug_msgs to autoware_internal_debug_msgs in files perc… (`#9879 `_) +* feat: tier4_debug_msgs to autoware_internal_debug_msgs in files perc… (`#9879 `_) feat: tier4_debug_msgs to autoware_internal_debug_msgs in files perception/autoware_multi_object_tracker -* chore(autoware_multi_object_tracker): fix autoware univserse documentation page (`#9772 `_) +* chore(autoware_multi_object_tracker): fix autoware univserse documentation page (`#9772 `_) * feat: Add descriptions for confidence thresholds in multi_object_tracker_node schema * feat: Update multi_object_tracker_node schema with confidence threshold descriptions --------- -* refactor(autoware_multi_object_tracker): define a new internal object class (`#9706 `_) +* refactor(autoware_multi_object_tracker): define a new internal object class (`#9706 `_) * feat: Add dynamic_object.hpp to object_model directory * chore: Update autoware_perception_msgs include statements in association.hpp and dynamic_object.hpp * fix: replace object message type to the DynamicObject type @@ -82,9 +124,9 @@ Changelog for package autoware_multi_object_tracker Co-authored-by: Yukihiro Saito --------- Co-authored-by: Yukihiro Saito -* fix(autoware_multi_object_tracker): fix bugprone-errors (`#9651 `_) +* fix(autoware_multi_object_tracker): fix bugprone-errors (`#9651 `_) fix: bugprone-errors -* refactor(autoware_multi_object_tracker): add configurable tracker parameters (`#9621 `_) +* refactor(autoware_multi_object_tracker): add configurable tracker parameters (`#9621 `_) * refactor(autoware_multi_object_tracker): add configurable tracker parameters * style(pre-commit): autofix * refactor(autoware_multi_object_tracker): remove default values from parameter declarations @@ -100,34 +142,34 @@ Changelog for package autoware_multi_object_tracker 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(autoware_multi_object_tracker): measure latency with latest detection update time (`#9533 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_multi_object_tracker): measure latency with latest detection update time (`#9533 `_) * fix: measure latency with latest detection update time * fix: remove duplicated current_time --------- -* fix(cpplint): include what you use - perception (`#9569 `_) -* ci(pre-commit): autoupdate (`#8949 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* ci(pre-commit): autoupdate (`#8949 `_) Co-authored-by: M. Fatih Cırıt -* fix(autoware_multi_object_tracker): fix clang-diagnostic-unused-private-field (`#9491 `_) +* fix(autoware_multi_object_tracker): fix clang-diagnostic-unused-private-field (`#9491 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(autoware_multi_object_tracker): new function to add odometry uncertainty (`#9139 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(autoware_multi_object_tracker): new function to add odometry uncertainty (`#9139 `_) * feat: add Odometry uncertainty to object tracking * feat: Add odometry heading uncertainty to object pose covariance feat: Rotate object pose covariance matrix to account for yaw uncertainty Rotate the object pose covariance matrix in the uncertainty_processor.cpp file to account for the yaw uncertainty. This ensures that the covariance matrix accurately represents the position uncertainty of the object. Refactor the code to rotate the covariance matrix using Eigen's Rotation2D class. The yaw uncertainty is added to the y-y element of the rotated covariance matrix. Finally, update the object_pose_cov array with the updated covariance values. - Closes `#123 `_ + Closes `#123 `_ * feat: Add odometry motion uncertainty to object pose covariance refactoring * feat: Update ego twist uncertainty to the object velocity uncertainty @@ -139,8 +181,8 @@ Changelog for package autoware_multi_object_tracker style(pre-commit): autofix * feat: Add odometry heading uncertainty to object pose covariance --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -150,9 +192,9 @@ Changelog for package autoware_multi_object_tracker 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -163,8 +205,8 @@ Changelog for package autoware_multi_object_tracker 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 `_) -* feat(autoware_multi_object_tracker): Set maximum reverse velocity to bicycle and crtv motion models (`#9019 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* feat(autoware_multi_object_tracker): Set maximum reverse velocity to bicycle and crtv motion models (`#9019 `_) * feat: Add maximum reverse velocity to bicycle and CTRV motion models revert the tracker orientation when the velocity exceed the maximum reverse velocity refactor: Update motion model parameters for bicycle and CTRV motion models @@ -172,7 +214,7 @@ Changelog for package autoware_multi_object_tracker max_reverse_vel is expected to be negative * refactor: remove config checker in the initializer --------- -* refactor(autoware_multi_object_tracker): separate detected object covariance modeling (`#9001 `_) +* refactor(autoware_multi_object_tracker): separate detected object covariance modeling (`#9001 `_) * refactor: update object model includes in tracker models * feat: add uncertainty processor for object tracking feat: refactor uncertainty processing for object tracking @@ -203,69 +245,69 @@ Changelog for package autoware_multi_object_tracker * refactor: update runProcess function parameters in multi_object_tracker_node.hpp --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): update yaw with range-limited innovation (`#8976 `_) +* fix(autoware_multi_object_tracker): update yaw with range-limited innovation (`#8976 `_) fix: update yaw with range-limited innovation -* feat(autoware_multi_object_tracker): reduce trigger latency (`#8657 `_) +* feat(autoware_multi_object_tracker): reduce trigger latency (`#8657 `_) * feat: timer-based trigger with phase compensation * chore: update comments, name of variable * chore: declare min and max publish interval ratios * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): output from screen to both (`#8407 `_) -* fix(autoware_multi_object_tracker): fix unusedFunction (`#8573 `_) +* fix(autoware_multi_object_tracker): output from screen to both (`#8407 `_) +* fix(autoware_multi_object_tracker): fix unusedFunction (`#8573 `_) fix:unusedFunction -* chore(autoware_multi_object_tracker): fix typo in input_channels.schema.json (`#8515 `_) +* chore(autoware_multi_object_tracker): fix typo in input_channels.schema.json (`#8515 `_) * fix(schema): fix typo in input_channels.schema.json Fixed a typo in the "lidar_pointpainting" key in the input_channels.schema.json file. * fix: fix typo in lidar_pointpainting key * chore: fix typo of lidar_pointpainitng channel --------- Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* 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> -* docs(autoware_multi_object_tracker): update input_channels schema with default values (`#8473 `_) +* docs(autoware_multi_object_tracker): update input_channels schema with default values (`#8473 `_) chore(perception): update input_channels schema with default values -* fix(autoware_multi_object_tracker): enable trigger publish when delay_compensation is false (`#8484 `_) +* fix(autoware_multi_object_tracker): enable trigger publish when delay_compensation is false (`#8484 `_) fix: enable trigger publish when delay_compensation is false -* fix(autoware_multi_object_tracker): fix functionConst (`#8424 `_) +* fix(autoware_multi_object_tracker): fix functionConst (`#8424 `_) fix:functionConst -* docs(autoware_multi_object_tracker): add default values on the schema json (`#8179 `_) +* docs(autoware_multi_object_tracker): add default values on the schema json (`#8179 `_) * Refractored the parameters, build the schema file, updated the readme file. * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): fix functionConst (`#8290 `_) +* fix(autoware_multi_object_tracker): fix functionConst (`#8290 `_) * fix:functionConst * fix:functionConst * fix:clang format --------- -* fix(autoware_multi_object_tracker): revert latency reduction logic and bring back to timer trigger (`#8277 `_) +* fix(autoware_multi_object_tracker): revert latency reduction logic and bring back to timer trigger (`#8277 `_) * fix: revert latency reduction logic and bring back to timer trigger * style(pre-commit): autofix * chore: remove unused variables --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): fix uninitMemberVar (`#8335 `_) +* fix(autoware_multi_object_tracker): fix uninitMemberVar (`#8335 `_) fix:uninitMemberVar -* fix(autoware_multi_object_tracker): fix passedByValue (`#8231 `_) +* fix(autoware_multi_object_tracker): fix passedByValue (`#8231 `_) fix:passedByValue -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* fix(autoware_multi_object_tracker): missing parameter schema path fix (`#8120 `_) +* fix(autoware_multi_object_tracker): missing parameter schema path fix (`#8120 `_) fix: missing parameter schema path fix -* fix(multi_object_tracker): fix funcArgNamesDifferent (`#8079 `_) +* fix(multi_object_tracker): fix funcArgNamesDifferent (`#8079 `_) fix:funcArgNamesDifferent -* refactor(multi_object_tracker): bring parameter schema to new package folder (`#8105 `_) +* refactor(multi_object_tracker): bring parameter schema to new package folder (`#8105 `_) refactor: bring parameter schema to new package folder -* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) * refactor: rename multi_object_tracker package to autoware_multi_object_tracker * style(pre-commit): autofix --------- diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp index b92e17987eb5f..a4b61755164af 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp @@ -36,6 +36,16 @@ namespace autoware::multi_object_tracker { +struct AssociatorConfig +{ + std::vector can_assign_matrix; + std::vector max_dist_matrix; + std::vector max_area_matrix; + std::vector min_area_matrix; + std::vector max_rad_matrix; + std::vector min_iou_matrix; +}; + class DataAssociation { private: @@ -50,17 +60,20 @@ class DataAssociation public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW - DataAssociation( - std::vector can_assign_vector, std::vector max_dist_vector, - std::vector max_area_vector, std::vector min_area_vector, - std::vector max_rad_vector, std::vector min_iou_vector); + explicit DataAssociation(const AssociatorConfig & config); + virtual ~DataAssociation() {} + void assign( const Eigen::MatrixXd & src, std::unordered_map & direct_assignment, std::unordered_map & reverse_assignment); + + double calculateScore( + const types::DynamicObject & tracked_object, const std::uint8_t tracker_label, + const types::DynamicObject & measurement_object, const std::uint8_t measurement_label) const; + Eigen::MatrixXd calcScoreMatrix( const types::DynamicObjectList & measurements, const std::list> & trackers); - virtual ~DataAssociation() {} }; } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/object_model/shapes.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/object_model/shapes.hpp index 84c0eb912610a..5e1de408862e1 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/object_model/shapes.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/object_model/shapes.hpp @@ -11,9 +11,6 @@ // 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. -// -// -// Author: v1.0 Taekjin Lee #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__SHAPES_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__SHAPES_HPP_ @@ -40,13 +37,12 @@ bool convertConvexHullToBoundingBox( bool getMeasurementYaw( const types::DynamicObject & object, const double & predicted_yaw, double & measurement_yaw); -int getNearestCornerOrSurface( - const double x, const double y, const double yaw, const double width, const double length, - const geometry_msgs::msg::Transform & self_transform); +void getNearestCornerOrSurface( + const geometry_msgs::msg::Transform & self_transform, types::DynamicObject & object); void calcAnchorPointOffset( - const double w, const double l, const int indx, const types::DynamicObject & input_object, - const double & yaw, types::DynamicObject & offset_object, Eigen::Vector2d & tracking_offset); + const types::DynamicObject & this_object, Eigen::Vector2d & tracking_offset, + types::DynamicObject & offset_object); } // namespace shapes } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/object_model/types.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/object_model/types.hpp index 7dab840aac481..6b930908a79ac 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/object_model/types.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/object_model/types.hpp @@ -11,9 +11,6 @@ // 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. -// -// -// Author: v1.0 Taekjin Lee #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__TYPES_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__TYPES_HPP_ @@ -25,6 +22,7 @@ #include #include #include +#include #include #include #include @@ -34,12 +32,27 @@ #include +#include #include namespace autoware::multi_object_tracker { namespace types { +// constants +constexpr size_t max_channel_size = 16; + +// channel configuration +struct InputChannel +{ + uint index; // index of the channel + std::string input_topic; // topic name of the detection, e.g. "/detection/lidar" + std::string long_name = "Detected Object"; // full name of the detection + std::string short_name = "DET"; // abbreviation of the name + bool is_spawn_enabled = true; // enable spawn of the object +}; + +// object model enum OrientationAvailability : uint8_t { UNAVAILABLE = 0, SIGN_UNKNOWN = 1, @@ -48,8 +61,6 @@ enum OrientationAvailability : uint8_t { struct ObjectKinematics { - geometry_msgs::msg::PoseWithCovariance pose_with_covariance; - geometry_msgs::msg::TwistWithCovariance twist_with_covariance; bool has_position_covariance = false; OrientationAvailability orientation_availability; bool has_twist = false; @@ -58,12 +69,27 @@ struct ObjectKinematics struct DynamicObject { - unique_identifier_msgs::msg::UUID object_id = unique_identifier_msgs::msg::UUID(); + // identification + unique_identifier_msgs::msg::UUID uuid = unique_identifier_msgs::msg::UUID(); + + // existence information uint channel_index; float existence_probability; + std::vector existence_probabilities; + + // object classification std::vector classification; + + // object kinematics (pose and twist) ObjectKinematics kinematics; + geometry_msgs::msg::Pose pose; + std::array pose_covariance; + geometry_msgs::msg::Twist twist; + std::array twist_covariance; + + // object extension (size and shape) autoware_perception_msgs::msg::Shape shape; + geometry_msgs::msg::Point anchor_point; }; struct DynamicObjectList @@ -82,7 +108,6 @@ DynamicObjectList toDynamicObjectList( autoware_perception_msgs::msg::TrackedObject toTrackedObjectMsg(const DynamicObject & dyn_object); } // namespace types - } // namespace autoware::multi_object_tracker #endif // AUTOWARE__MULTI_OBJECT_TRACKER__OBJECT_MODEL__TYPES_HPP_ diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp index ad3667eb240c0..5bf5ed23da9e9 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp @@ -32,40 +32,21 @@ namespace autoware::multi_object_tracker class BicycleTracker : public Tracker { private: - types::DynamicObject object_; rclcpp::Logger logger_; object_model::ObjectModel object_model_ = object_model::bicycle; - double z_; - - struct BoundingBox - { - double length; - double width; - double height; - }; - BoundingBox bounding_box_; - BicycleMotionModel motion_model_; using IDX = BicycleMotionModel::IDX; public: - BicycleTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size); + BicycleTracker(const rclcpp::Time & time, const types::DynamicObject & object); bool predict(const rclcpp::Time & time) override; - bool measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) override; + bool measure(const types::DynamicObject & object, const rclcpp::Time & time) override; bool measureWithPose(const types::DynamicObject & object); bool measureWithShape(const types::DynamicObject & object); bool getTrackedObject(const rclcpp::Time & time, types::DynamicObject & object) const override; - -private: - types::DynamicObject getUpdatingObject( - const types::DynamicObject & object, - const geometry_msgs::msg::Transform & self_transform) const; }; } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp index b9e026bf3c009..82122f34101cd 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp @@ -36,13 +36,10 @@ class MultipleVehicleTracker : public Tracker VehicleTracker big_vehicle_tracker_; public: - MultipleVehicleTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size); + MultipleVehicleTracker(const rclcpp::Time & time, const types::DynamicObject & object); bool predict(const rclcpp::Time & time) override; - bool measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) override; + bool measure(const types::DynamicObject & object, const rclcpp::Time & time) override; bool getTrackedObject(const rclcpp::Time & time, types::DynamicObject & object) const override; virtual ~MultipleVehicleTracker() {} }; diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp index 6230ba6e3b0f4..d0dceabfaac25 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp @@ -30,18 +30,14 @@ namespace autoware::multi_object_tracker class PassThroughTracker : public Tracker { private: - types::DynamicObject object_; types::DynamicObject prev_observed_object_; rclcpp::Logger logger_; rclcpp::Time last_update_time_; public: - PassThroughTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size); + PassThroughTracker(const rclcpp::Time & time, const types::DynamicObject & object); bool predict(const rclcpp::Time & time) override; - bool measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) override; + bool measure(const types::DynamicObject & object, const rclcpp::Time & time) override; bool getTrackedObject(const rclcpp::Time & time, types::DynamicObject & object) const override; }; diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp index 8a4bfc59d37ac..f0e741ddc1993 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp @@ -36,13 +36,10 @@ class PedestrianAndBicycleTracker : public Tracker BicycleTracker bicycle_tracker_; public: - PedestrianAndBicycleTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size); + PedestrianAndBicycleTracker(const rclcpp::Time & time, const types::DynamicObject & object); bool predict(const rclcpp::Time & time) override; - bool measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) override; + bool measure(const types::DynamicObject & object, const rclcpp::Time & time) override; bool getTrackedObject(const rclcpp::Time & time, types::DynamicObject & object) const override; virtual ~PedestrianAndBicycleTracker() {} }; diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp index 5a2acc50a8249..65495f8b5e108 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp @@ -32,46 +32,22 @@ namespace autoware::multi_object_tracker class PedestrianTracker : public Tracker { private: - types::DynamicObject object_; rclcpp::Logger logger_; object_model::ObjectModel object_model_ = object_model::pedestrian; - double z_; - - struct BoundingBox - { - double length; - double width; - double height; - }; - struct Cylinder - { - double width; - double height; - }; - BoundingBox bounding_box_; - Cylinder cylinder_; // cspell: ignore CTRV CTRVMotionModel motion_model_; using IDX = CTRVMotionModel::IDX; public: - PedestrianTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size); + PedestrianTracker(const rclcpp::Time & time, const types::DynamicObject & object); bool predict(const rclcpp::Time & time) override; - bool measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) override; + bool measure(const types::DynamicObject & object, const rclcpp::Time & time) override; bool measureWithPose(const types::DynamicObject & object); bool measureWithShape(const types::DynamicObject & object); bool getTrackedObject(const rclcpp::Time & time, types::DynamicObject & object) const override; - -private: - types::DynamicObject getUpdatingObject( - const types::DynamicObject & object, - const geometry_msgs::msg::Transform & self_transform) const; }; } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp index ac5527fca6400..637969c139cf1 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp @@ -20,6 +20,7 @@ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_ #define EIGEN_MPL2_ONLY +#include "autoware/multi_object_tracker/object_model/object_model.hpp" #include "autoware/multi_object_tracker/object_model/types.hpp" #include @@ -39,11 +40,6 @@ namespace autoware::multi_object_tracker class Tracker { private: - unique_identifier_msgs::msg::UUID uuid_; - - // classification - std::vector classification_; - // existence states int no_measurement_count_; int total_no_measurement_count_; @@ -53,10 +49,7 @@ class Tracker float total_existence_probability_; public: - Tracker( - const rclcpp::Time & time, - const std::vector & classification, - const size_t & channel_size); + Tracker(const rclcpp::Time & time, const types::DynamicObject & object); virtual ~Tracker() = default; void initializeExistenceProbabilities( @@ -68,17 +61,12 @@ class Tracker } bool updateWithMeasurement( const types::DynamicObject & object, const rclcpp::Time & measurement_time, - const geometry_msgs::msg::Transform & self_transform); + const types::InputChannel & channel_info); bool updateWithoutMeasurement(const rclcpp::Time & now); - // classification - std::vector getClassification() const - { - return classification_; - } std::uint8_t getHighestProbLabel() const { - return autoware::object_recognition_utils::getHighestProbLabel(classification_); + return autoware::object_recognition_utils::getHighestProbLabel(object_.classification); } // existence states @@ -91,24 +79,15 @@ class Tracker } protected: - unique_identifier_msgs::msg::UUID getUUID() const { return uuid_; } - void setClassification( - const std::vector & classification) - { - classification_ = classification; - } + types::DynamicObject object_; + void updateClassification( const std::vector & classification); - // virtual functions -public: - virtual geometry_msgs::msg::PoseWithCovariance getPoseWithCovariance( - const rclcpp::Time & time) const; + void limitObjectExtension(const object_model::ObjectModel object_model); -protected: - virtual bool measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) = 0; + // virtual functions + virtual bool measure(const types::DynamicObject & object, const rclcpp::Time & time) = 0; public: virtual bool getTrackedObject(const rclcpp::Time & time, types::DynamicObject & object) const = 0; diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp index 075db6b8a9d69..5fb0a142ecf34 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp @@ -19,6 +19,7 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_ +#include "autoware/multi_object_tracker/object_model/object_model.hpp" #include "autoware/multi_object_tracker/object_model/types.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" #include "autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp" @@ -31,32 +32,18 @@ namespace autoware::multi_object_tracker class UnknownTracker : public Tracker { private: - types::DynamicObject object_; rclcpp::Logger logger_; - struct EkfParams - { - double r_cov_x; - double r_cov_y; - double r_cov_vx; - double r_cov_vy; - } ekf_params_; - - double z_; + object_model::ObjectModel object_model_ = object_model::unknown; CVMotionModel motion_model_; using IDX = CVMotionModel::IDX; public: - UnknownTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size); + UnknownTracker(const rclcpp::Time & time, const types::DynamicObject & object); bool predict(const rclcpp::Time & time) override; - bool measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) override; - types::DynamicObject getUpdatingObject( - const types::DynamicObject & object, const geometry_msgs::msg::Transform & self_transform); + bool measure(const types::DynamicObject & object, const rclcpp::Time & time) override; bool measureWithPose(const types::DynamicObject & object); bool measureWithShape(const types::DynamicObject & object); bool getTrackedObject(const rclcpp::Time & time, types::DynamicObject & object) const override; diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp index f50d117acc081..4c682158a4aec 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp @@ -37,16 +37,6 @@ class VehicleTracker : public Tracker double velocity_deviation_threshold_; - types::DynamicObject object_; - double z_; - - struct BoundingBox - { - double length; - double width; - double height; - }; - BoundingBox bounding_box_; Eigen::Vector2d tracking_offset_; BicycleMotionModel motion_model_; @@ -55,19 +45,13 @@ class VehicleTracker : public Tracker public: VehicleTracker( const object_model::ObjectModel & object_model, const rclcpp::Time & time, - const types::DynamicObject & object, const size_t channel_size); + const types::DynamicObject & object); bool predict(const rclcpp::Time & time) override; - bool measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) override; + bool measure(const types::DynamicObject & object, const rclcpp::Time & time) override; bool measureWithPose(const types::DynamicObject & object); bool measureWithShape(const types::DynamicObject & object); bool getTrackedObject(const rclcpp::Time & time, types::DynamicObject & object) const override; - -private: - types::DynamicObject getUpdatingObject( - const types::DynamicObject & object, const geometry_msgs::msg::Transform & self_transform); }; } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/lib/association/association.cpp b/perception/autoware_multi_object_tracker/lib/association/association.cpp index c66d11d839496..b832b693206f5 100644 --- a/perception/autoware_multi_object_tracker/lib/association/association.cpp +++ b/perception/autoware_multi_object_tracker/lib/association/association.cpp @@ -41,11 +41,10 @@ double getMahalanobisDistance( return std::sqrt(mahalanobis_squared(0)); } -Eigen::Matrix2d getXYCovariance(const geometry_msgs::msg::PoseWithCovariance & pose_covariance) +Eigen::Matrix2d getXYCovariance(const std::array & pose_covariance) { Eigen::Matrix2d covariance; - covariance << pose_covariance.covariance[0], pose_covariance.covariance[1], - pose_covariance.covariance[6], pose_covariance.covariance[7]; + covariance << pose_covariance[0], pose_covariance[1], pose_covariance[6], pose_covariance[7]; return covariance; } @@ -72,12 +71,15 @@ double getFormedYawAngle( namespace autoware::multi_object_tracker { -DataAssociation::DataAssociation( - std::vector can_assign_vector, std::vector max_dist_vector, - std::vector max_area_vector, std::vector min_area_vector, - std::vector max_rad_vector, std::vector min_iou_vector) -: score_threshold_(0.01) +DataAssociation::DataAssociation(const AssociatorConfig & config) : score_threshold_(0.01) { + std::vector can_assign_vector = config.can_assign_matrix; + std::vector max_dist_vector = config.max_dist_matrix; + std::vector max_area_vector = config.max_area_matrix; + std::vector min_area_vector = config.min_area_matrix; + std::vector max_rad_vector = config.max_rad_matrix; + std::vector min_iou_vector = config.min_iou_matrix; + { const int assign_label_num = static_cast(std::sqrt(can_assign_vector.size())); Eigen::Map can_assign_matrix_tmp( @@ -154,11 +156,19 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( const types::DynamicObjectList & measurements, const std::list> & trackers) { + // Ensure that the detected_objects and list_tracker are not empty + if (measurements.objects.empty() || trackers.empty()) { + return Eigen::MatrixXd(); + } + // Initialize the score matrix Eigen::MatrixXd score_matrix = Eigen::MatrixXd::Zero(trackers.size(), measurements.objects.size()); + size_t tracker_idx = 0; for (auto tracker_itr = trackers.begin(); tracker_itr != trackers.end(); ++tracker_itr, ++tracker_idx) { + types::DynamicObject tracked_object; + (*tracker_itr)->getTrackedObject(measurements.header.stamp, tracked_object); const std::uint8_t tracker_label = (*tracker_itr)->getHighestProbLabel(); for (size_t measurement_idx = 0; measurement_idx < measurements.objects.size(); @@ -167,60 +177,9 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( const std::uint8_t measurement_label = autoware::object_recognition_utils::getHighestProbLabel(measurement_object.classification); - double score = 0.0; - if (can_assign_matrix_(tracker_label, measurement_label)) { - types::DynamicObject tracked_object; - (*tracker_itr)->getTrackedObject(measurements.header.stamp, tracked_object); - - const double max_dist = max_dist_matrix_(tracker_label, measurement_label); - const double dist = autoware_utils::calc_distance2d( - measurement_object.kinematics.pose_with_covariance.pose.position, - tracked_object.kinematics.pose_with_covariance.pose.position); - - bool passed_gate = true; - // dist gate - { // passed_gate is always true - if (max_dist < dist) passed_gate = false; - } - // area gate - if (passed_gate) { - const double max_area = max_area_matrix_(tracker_label, measurement_label); - const double min_area = min_area_matrix_(tracker_label, measurement_label); - const double area = autoware_utils::get_area(measurement_object.shape); - if (area < min_area || max_area < area) passed_gate = false; - } - // angle gate - if (passed_gate) { - const double max_rad = max_rad_matrix_(tracker_label, measurement_label); - const double angle = getFormedYawAngle( - measurement_object.kinematics.pose_with_covariance.pose.orientation, - tracked_object.kinematics.pose_with_covariance.pose.orientation, false); - if (std::fabs(max_rad) < M_PI && std::fabs(max_rad) < std::fabs(angle)) - passed_gate = false; - } - // mahalanobis dist gate - if (passed_gate) { - const double mahalanobis_dist = getMahalanobisDistance( - measurement_object.kinematics.pose_with_covariance.pose.position, - tracked_object.kinematics.pose_with_covariance.pose.position, - getXYCovariance(tracked_object.kinematics.pose_with_covariance)); - if (3.035 /*99%*/ <= mahalanobis_dist) passed_gate = false; - } - // 2d iou gate - if (passed_gate) { - const double min_iou = min_iou_matrix_(tracker_label, measurement_label); - const double min_union_iou_area = 1e-2; - const double iou = - shapes::get2dIoU(measurement_object, tracked_object, min_union_iou_area); - if (iou < min_iou) passed_gate = false; - } - - // all gate is passed - if (passed_gate) { - score = (max_dist - std::min(dist, max_dist)) / max_dist; - if (score < score_threshold_) score = 0.0; - } - } + double score = + calculateScore(tracked_object, tracker_label, measurement_object, measurement_label); + score_matrix(tracker_idx, measurement_idx) = score; } } @@ -228,4 +187,51 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( return score_matrix; } +double DataAssociation::calculateScore( + const types::DynamicObject & tracked_object, const std::uint8_t tracker_label, + const types::DynamicObject & measurement_object, const std::uint8_t measurement_label) const +{ + if (!can_assign_matrix_(tracker_label, measurement_label)) { + return 0.0; + } + + const double max_dist = max_dist_matrix_(tracker_label, measurement_label); + const double dist = + autoware_utils::calc_distance2d(measurement_object.pose.position, tracked_object.pose.position); + + // dist gate + if (max_dist < dist) return 0.0; + + // area gate + const double max_area = max_area_matrix_(tracker_label, measurement_label); + const double min_area = min_area_matrix_(tracker_label, measurement_label); + const double area = autoware_utils::get_area(measurement_object.shape); + if (area < min_area || max_area < area) return 0.0; + + // angle gate + const double max_rad = max_rad_matrix_(tracker_label, measurement_label); + const double angle = + getFormedYawAngle(measurement_object.pose.orientation, tracked_object.pose.orientation, false); + if (std::fabs(max_rad) < M_PI && std::fabs(max_rad) < std::fabs(angle)) { + return 0.0; + } + + // mahalanobis dist gate + const double mahalanobis_dist = getMahalanobisDistance( + measurement_object.pose.position, tracked_object.pose.position, + getXYCovariance(tracked_object.pose_covariance)); + if (3.035 /*99%*/ <= mahalanobis_dist) return 0.0; + + // 2d iou gate + const double min_iou = min_iou_matrix_(tracker_label, measurement_label); + const double min_union_iou_area = 1e-2; + const double iou = shapes::get2dIoU(measurement_object, tracked_object, min_union_iou_area); + if (iou < min_iou) return 0.0; + + // all gate is passed + double score = (max_dist - std::min(dist, max_dist)) / max_dist; + if (score < score_threshold_) score = 0.0; + return score; +} + } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp b/perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp index 1e1e6cf5bbeef..7019734eee59d 100644 --- a/perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp +++ b/perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp @@ -11,9 +11,6 @@ // 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. -// -// -// Author: v1.0 Yukihiro Saito, Taekjin Lee #include "autoware/multi_object_tracker/object_model/shapes.hpp" @@ -29,6 +26,7 @@ #include #include +#include #include #include @@ -67,11 +65,9 @@ double get2dIoU( { static const double MIN_AREA = 1e-6; - const auto source_polygon = autoware_utils::to_polygon2d( - source_object.kinematics.pose_with_covariance.pose, source_object.shape); + const auto source_polygon = autoware_utils::to_polygon2d(source_object.pose, source_object.shape); if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0; - const auto target_polygon = autoware_utils::to_polygon2d( - target_object.kinematics.pose_with_covariance.pose, target_object.shape); + const auto target_polygon = autoware_utils::to_polygon2d(target_object.pose, target_object.shape); if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0; const double intersection_area = getIntersectionArea(source_polygon, target_polygon); @@ -97,37 +93,38 @@ bool convertConvexHullToBoundingBox( } // look for bounding box boundary - float max_x = 0; - float max_y = 0; - float min_x = 0; - float min_y = 0; - float max_z = 0; + float max_x = -std::numeric_limits::infinity(); + float max_y = -std::numeric_limits::infinity(); + float min_x = std::numeric_limits::infinity(); + float min_y = std::numeric_limits::infinity(); + float max_z = -std::numeric_limits::infinity(); + float min_z = std::numeric_limits::infinity(); + for (const auto & point : input_object.shape.footprint.points) { max_x = std::max(max_x, point.x); max_y = std::max(max_y, point.y); min_x = std::min(min_x, point.x); min_y = std::min(min_y, point.y); max_z = std::max(max_z, point.z); + min_z = std::min(min_z, point.z); } // calc new center - const Eigen::Vector2d center{ - input_object.kinematics.pose_with_covariance.pose.position.x, - input_object.kinematics.pose_with_covariance.pose.position.y}; - const auto yaw = tf2::getYaw(input_object.kinematics.pose_with_covariance.pose.orientation); + const Eigen::Vector2d center{input_object.pose.position.x, input_object.pose.position.y}; + const auto yaw = tf2::getYaw(input_object.pose.orientation); const Eigen::Matrix2d R_inv = Eigen::Rotation2Dd(-yaw).toRotationMatrix(); const Eigen::Vector2d new_local_center{(max_x + min_x) / 2.0, (max_y + min_y) / 2.0}; const Eigen::Vector2d new_center = center + R_inv.transpose() * new_local_center; // set output parameters output_object = input_object; - output_object.kinematics.pose_with_covariance.pose.position.x = new_center.x(); - output_object.kinematics.pose_with_covariance.pose.position.y = new_center.y(); + output_object.pose.position.x = new_center.x(); + output_object.pose.position.y = new_center.y(); output_object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; output_object.shape.dimensions.x = max_x - min_x; output_object.shape.dimensions.y = max_y - min_y; - output_object.shape.dimensions.z = max_z; + output_object.shape.dimensions.z = max_z - min_z; return true; } @@ -135,7 +132,7 @@ bool convertConvexHullToBoundingBox( bool getMeasurementYaw( const types::DynamicObject & object, const double & predicted_yaw, double & measurement_yaw) { - measurement_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + measurement_yaw = tf2::getYaw(object.pose.orientation); // check orientation sign is known or not, and fix the limiting delta yaw double limiting_delta_yaw = M_PI_2; @@ -178,10 +175,15 @@ enum BBOX_IDX { * @param self_transform: Ego vehicle position in map frame * @return int index */ -int getNearestCornerOrSurface( - const double x, const double y, const double yaw, const double width, const double length, - const geometry_msgs::msg::Transform & self_transform) +void getNearestCornerOrSurface( + const geometry_msgs::msg::Transform & self_transform, types::DynamicObject & object) { + const double x = object.pose.position.x; + const double y = object.pose.position.y; + const double yaw = tf2::getYaw(object.pose.orientation); + const double width = object.shape.dimensions.y; + const double length = object.shape.dimensions.x; + // get local vehicle pose const double x0 = self_transform.translation.x; const double y0 = self_transform.translation.y; @@ -191,115 +193,68 @@ int getNearestCornerOrSurface( const double xl = std::cos(yaw) * (x0 - x) + std::sin(yaw) * (y0 - y); const double yl = -std::sin(yaw) * (x0 - x) + std::cos(yaw) * (y0 - y); - // Determine Index + // Determine anchor point // x+ (front) // __ // y+ | | y- // (left) | | (right) // -- // x- (rear) - int xgrid = 0; - int ygrid = 0; - const int labels[3][3] = { - {BBOX_IDX::FRONT_L_CORNER, BBOX_IDX::FRONT_SURFACE, BBOX_IDX::FRONT_R_CORNER}, - {BBOX_IDX::LEFT_SURFACE, BBOX_IDX::INSIDE, BBOX_IDX::RIGHT_SURFACE}, - {BBOX_IDX::REAR_L_CORNER, BBOX_IDX::REAR_SURFACE, BBOX_IDX::REAR_R_CORNER}}; + double anchor_x = 0; + double anchor_y = 0; if (xl > length / 2.0) { - xgrid = 0; // front + anchor_x = length / 2.0; } else if (xl > -length / 2.0) { - xgrid = 1; // middle + anchor_x = 0; } else { - xgrid = 2; // rear + anchor_x = -length / 2.0; } if (yl > width / 2.0) { - ygrid = 0; // left + anchor_y = width / 2.0; } else if (yl > -width / 2.0) { - ygrid = 1; // middle + anchor_y = 0; } else { - ygrid = 2; // right + anchor_y = -width / 2.0; } - return labels[xgrid][ygrid]; // 0 to 7 + 1(null) value + object.anchor_point.x = anchor_x; + object.anchor_point.y = anchor_y; } -/** - * @brief Calc bounding box center offset caused by shape change - * @param dw: width update [m] = w_new - w_old - * @param dl: length update [m] = l_new - l_old - * @param indx: nearest corner index - * @return 2d offset vector caused by shape change - */ -inline Eigen::Vector2d calcOffsetVectorFromShapeChange( - const double dw, const double dl, const int indx) -{ - Eigen::Vector2d offset; - // if surface - if (indx == BBOX_IDX::FRONT_SURFACE) { - offset(0, 0) = dl / 2.0; // move forward - offset(1, 0) = 0; - } else if (indx == BBOX_IDX::RIGHT_SURFACE) { - offset(0, 0) = 0; - offset(1, 0) = -dw / 2.0; // move right - } else if (indx == BBOX_IDX::REAR_SURFACE) { - offset(0, 0) = -dl / 2.0; // move backward - offset(1, 0) = 0; - } else if (indx == BBOX_IDX::LEFT_SURFACE) { - offset(0, 0) = 0; - offset(1, 0) = dw / 2.0; // move left - } - // if corner - if (indx == BBOX_IDX::FRONT_R_CORNER) { - offset(0, 0) = dl / 2.0; // move forward - offset(1, 0) = -dw / 2.0; // move right - } else if (indx == BBOX_IDX::REAR_R_CORNER) { - offset(0, 0) = -dl / 2.0; // move backward - offset(1, 0) = -dw / 2.0; // move right - } else if (indx == BBOX_IDX::REAR_L_CORNER) { - offset(0, 0) = -dl / 2.0; // move backward - offset(1, 0) = dw / 2.0; // move left - } else if (indx == BBOX_IDX::FRONT_L_CORNER) { - offset(0, 0) = dl / 2.0; // move forward - offset(1, 0) = dw / 2.0; // move left - } - return offset; // do nothing if indx == INVALID or INSIDE -} - -/** - * @brief Convert input object center to tracking point based on nearest corner information - * 1. update anchor offset vector, 2. offset input bbox based on tracking_offset vector and - * prediction yaw angle - * @param w: last input bounding box width - * @param l: last input bounding box length - * @param indx: last input bounding box closest corner index - * @param input_object: input object bounding box - * @param yaw: current yaw estimation - * @param offset_object: output tracking measurement to feed ekf - * @return nearest corner index(int) - */ void calcAnchorPointOffset( - const double w, const double l, const int indx, const types::DynamicObject & input_object, - const double & yaw, types::DynamicObject & offset_object, Eigen::Vector2d & tracking_offset) + const types::DynamicObject & this_object, Eigen::Vector2d & tracking_offset, + types::DynamicObject & updating_object) { // copy value - offset_object = input_object; - // invalid index - if (indx == BBOX_IDX::INSIDE) { - return; // do nothing + const geometry_msgs::msg::Point anchor_vector = updating_object.anchor_point; + // invalid anchor + if (anchor_vector.x <= 1e-6 && anchor_vector.y <= 1e-6) { + return; } + double input_yaw = tf2::getYaw(updating_object.pose.orientation); // current object width and height - const double w_n = input_object.shape.dimensions.y; - const double l_n = input_object.shape.dimensions.x; + const double length = this_object.shape.dimensions.x; + const double width = this_object.shape.dimensions.y; // update offset - const Eigen::Vector2d offset = calcOffsetVectorFromShapeChange(w_n - w, l_n - l, indx); - tracking_offset = offset; + tracking_offset = Eigen::Vector2d(anchor_vector.x, anchor_vector.y); + if (tracking_offset.x() > 0) { + tracking_offset.x() -= length / 2.0; + } else if (tracking_offset.x() < 0) { + tracking_offset.x() += length / 2.0; + } + if (tracking_offset.y() > 0) { + tracking_offset.y() -= width / 2.0; + } else if (tracking_offset.y() < 0) { + tracking_offset.y() += width / 2.0; + } // offset input object - const Eigen::Matrix2d R = Eigen::Rotation2Dd(yaw).toRotationMatrix(); + const Eigen::Matrix2d R = Eigen::Rotation2Dd(input_yaw).toRotationMatrix(); const Eigen::Vector2d rotated_offset = R * tracking_offset; - offset_object.kinematics.pose_with_covariance.pose.position.x += rotated_offset.x(); - offset_object.kinematics.pose_with_covariance.pose.position.y += rotated_offset.y(); + updating_object.pose.position.x += rotated_offset.x(); + updating_object.pose.position.y += rotated_offset.y(); } } // namespace shapes diff --git a/perception/autoware_multi_object_tracker/lib/object_model/types.cpp b/perception/autoware_multi_object_tracker/lib/object_model/types.cpp index 671d5313d0ff8..b5b19ee5388dd 100644 --- a/perception/autoware_multi_object_tracker/lib/object_model/types.cpp +++ b/perception/autoware_multi_object_tracker/lib/object_model/types.cpp @@ -11,9 +11,6 @@ // 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. -// -// -// Author: v1.0 Taekjin Lee #include "autoware/multi_object_tracker/object_model/types.hpp" @@ -29,12 +26,18 @@ DynamicObject toDynamicObject( const autoware_perception_msgs::msg::DetectedObject & det_object, const uint channel_index) { DynamicObject dynamic_object; + + // initialize existence_probabilities, using channel information dynamic_object.channel_index = channel_index; dynamic_object.existence_probability = det_object.existence_probability; + dynamic_object.classification = det_object.classification; - dynamic_object.kinematics.pose_with_covariance = det_object.kinematics.pose_with_covariance; - dynamic_object.kinematics.twist_with_covariance = det_object.kinematics.twist_with_covariance; + dynamic_object.pose = det_object.kinematics.pose_with_covariance.pose; + dynamic_object.pose_covariance = det_object.kinematics.pose_with_covariance.covariance; + dynamic_object.twist = det_object.kinematics.twist_with_covariance.twist; + dynamic_object.twist_covariance = det_object.kinematics.twist_with_covariance.covariance; + dynamic_object.kinematics.has_position_covariance = det_object.kinematics.has_position_covariance; if ( det_object.kinematics.orientation_availability == @@ -52,6 +55,7 @@ DynamicObject toDynamicObject( dynamic_object.kinematics.has_twist = det_object.kinematics.has_twist; dynamic_object.kinematics.has_twist_covariance = det_object.kinematics.has_twist_covariance; + // shape dynamic_object.shape = det_object.shape; return dynamic_object; @@ -73,12 +77,15 @@ DynamicObjectList toDynamicObjectList( autoware_perception_msgs::msg::TrackedObject toTrackedObjectMsg(const DynamicObject & dyn_object) { autoware_perception_msgs::msg::TrackedObject tracked_object; - tracked_object.object_id = dyn_object.object_id; + tracked_object.object_id = dyn_object.uuid; tracked_object.existence_probability = dyn_object.existence_probability; tracked_object.classification = dyn_object.classification; - tracked_object.kinematics.pose_with_covariance = dyn_object.kinematics.pose_with_covariance; - tracked_object.kinematics.twist_with_covariance = dyn_object.kinematics.twist_with_covariance; + tracked_object.kinematics.pose_with_covariance.pose = dyn_object.pose; + tracked_object.kinematics.pose_with_covariance.covariance = dyn_object.pose_covariance; + tracked_object.kinematics.twist_with_covariance.twist = dyn_object.twist; + tracked_object.kinematics.twist_with_covariance.covariance = dyn_object.twist_covariance; + if (dyn_object.kinematics.orientation_availability == OrientationAvailability::UNAVAILABLE) { tracked_object.kinematics.orientation_availability = autoware_perception_msgs::msg::TrackedObjectKinematics::UNAVAILABLE; diff --git a/perception/autoware_multi_object_tracker/lib/odometry.cpp b/perception/autoware_multi_object_tracker/lib/odometry.cpp index 2d31fe876c329..538d619d14870 100644 --- a/perception/autoware_multi_object_tracker/lib/odometry.cpp +++ b/perception/autoware_multi_object_tracker/lib/odometry.cpp @@ -157,20 +157,23 @@ std::optional Odometry::transformObjects( tf2::fromMsg(*ros_target2objects_world, tf_target2objects_world); } for (auto & object : output_objects.objects) { - auto & pose_with_cov = object.kinematics.pose_with_covariance; - tf2::fromMsg(pose_with_cov.pose, tf_objects_world2objects); + auto & pose = object.pose; + auto & pose_cov = object.pose_covariance; + tf2::fromMsg(pose, tf_objects_world2objects); tf_target2objects = tf_target2objects_world * tf_objects_world2objects; // transform pose, frame difference and object pose - tf2::toMsg(tf_target2objects, pose_with_cov.pose); + tf2::toMsg(tf_target2objects, pose); // transform covariance, only the frame difference - pose_with_cov.covariance = - tf2::transformCovariance(pose_with_cov.covariance, tf_target2objects_world); + pose_cov = tf2::transformCovariance(pose_cov, tf_target2objects_world); } } // Add the odometry uncertainty to the object uncertainty if (enable_odometry_uncertainty_) { // Create a modeled odometry message const auto odometry = getOdometryFromTf(input_objects.header.stamp); + if (!odometry) { + return std::nullopt; + } // Add the odometry uncertainty to the object uncertainty uncertainty::addOdometryUncertainty(odometry.value(), output_objects); } diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp index 1fcfd56908db0..ad7112360267c 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp @@ -40,36 +40,20 @@ namespace autoware::multi_object_tracker { - -using Label = autoware_perception_msgs::msg::ObjectClassification; - -BicycleTracker::BicycleTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size) -: Tracker(time, object.classification, channel_size), - logger_(rclcpp::get_logger("BicycleTracker")), - z_(object.kinematics.pose_with_covariance.pose.position.z) +BicycleTracker::BicycleTracker(const rclcpp::Time & time, const types::DynamicObject & object) +: Tracker(time, object), logger_(rclcpp::get_logger("BicycleTracker")) { - object_ = object; - - // initialize existence probability - initializeExistenceProbabilities(object.channel_index, object.existence_probability); - - // OBJECT SHAPE MODEL - if (object.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - bounding_box_ = { - object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z}; - } else { - bounding_box_ = { - object_model_.init_size.length, object_model_.init_size.width, - object_model_.init_size.height}; // default value + if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { + // set default initial size + auto & object_extension = object_.shape.dimensions; + object_extension.x = object_model_.init_size.length; + object_extension.y = object_model_.init_size.width; + object_extension.z = object_model_.init_size.height; } + object_.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + // set maximum and minimum size - bounding_box_.length = std::clamp( - bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - bounding_box_.width = std::clamp( - bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max); - bounding_box_.height = std::clamp( - bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); + limitObjectExtension(object_model_); // Set motion model parameters { @@ -100,11 +84,11 @@ BicycleTracker::BicycleTracker( // Set initial state { using autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; - const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const double x = object.pose.position.x; + const double y = object.pose.position.y; + const double yaw = tf2::getYaw(object.pose.orientation); - auto pose_cov = object.kinematics.pose_with_covariance.covariance; + auto pose_cov = object.pose_covariance; if (!object.kinematics.has_position_covariance) { // initial state covariance const auto & p0_cov_x = object_model_.initial_covariance.pos_x; @@ -124,15 +108,15 @@ BicycleTracker::BicycleTracker( double vel = 0.0; double vel_cov = object_model_.initial_covariance.vel_long; if (object.kinematics.has_twist) { - vel = object.kinematics.twist_with_covariance.twist.linear.x; + vel = object.twist.linear.x; } if (object.kinematics.has_twist_covariance) { - vel_cov = object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::X_X]; + vel_cov = object.twist_covariance[XYZRPY_COV_IDX::X_X]; } const double slip = 0.0; const double slip_cov = object_model_.bicycle_state.init_slip_angle_cov; - const double & length = bounding_box_.length; + const double & length = object_.shape.dimensions.x; // initialize motion model motion_model_.initialize(time, x, y, yaw, pose_cov, vel, vel_cov, slip, slip_cov, length); @@ -144,23 +128,6 @@ bool BicycleTracker::predict(const rclcpp::Time & time) return motion_model_.predictState(time); } -types::DynamicObject BicycleTracker::getUpdatingObject( - const types::DynamicObject & object, - const geometry_msgs::msg::Transform & /*self_transform*/) const -{ - types::DynamicObject updating_object = object; - - // OBJECT SHAPE MODEL - // convert to bounding box if input is convex shape - if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - if (!shapes::convertConvexHullToBoundingBox(object, updating_object)) { - updating_object = object; - } - } - - return updating_object; -} - bool BicycleTracker::measureWithPose(const types::DynamicObject & object) { // get measurement yaw angle to update @@ -171,23 +138,21 @@ bool BicycleTracker::measureWithPose(const types::DynamicObject & object) // update bool is_updated = false; { - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; + const double x = object.pose.position.x; + const double y = object.pose.position.y; const double yaw = measurement_yaw; if (is_yaw_available) { - is_updated = motion_model_.updateStatePoseHead( - x, y, yaw, object.kinematics.pose_with_covariance.covariance); + is_updated = motion_model_.updateStatePoseHead(x, y, yaw, object.pose_covariance); } else { - is_updated = - motion_model_.updateStatePose(x, y, object.kinematics.pose_with_covariance.covariance); + is_updated = motion_model_.updateStatePose(x, y, object.pose_covariance); } motion_model_.limitStates(); } // position z constexpr double gain = 0.1; - z_ = (1.0 - gain) * z_ + gain * object.kinematics.pose_with_covariance.pose.position.z; + object_.pose.position.z = (1.0 - gain) * object_.pose.position.z + gain * object.pose.position.z; return is_updated; } @@ -203,48 +168,34 @@ bool BicycleTracker::measureWithShape(const types::DynamicObject & object) constexpr double size_max = 30.0; // [m] constexpr double size_min = 0.1; // [m] if ( - object.shape.dimensions.x > size_max || object.shape.dimensions.y > size_max || - object.shape.dimensions.z > size_max || object.shape.dimensions.x < size_min || - object.shape.dimensions.y < size_min || object.shape.dimensions.z < size_min) { + object.shape.dimensions.x > size_max || object.shape.dimensions.x < size_min || + object.shape.dimensions.y > size_max || object.shape.dimensions.y < size_min || + object.shape.dimensions.z > size_max || object.shape.dimensions.z < size_min) { return false; } // update object size constexpr double gain = 0.1; constexpr double gain_inv = 1.0 - gain; - bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x; - bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y; - bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z; + auto & object_extension = object_.shape.dimensions; + object_extension.x = gain_inv * object_extension.x + gain * object.shape.dimensions.x; + object_extension.y = gain_inv * object_extension.y + gain * object.shape.dimensions.y; + object_extension.z = gain_inv * object_extension.z + gain * object.shape.dimensions.z; + + // set shape type, which is bounding box + object_.shape.type = object.shape.type; // set maximum and minimum size - bounding_box_.length = std::clamp( - bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - bounding_box_.width = std::clamp( - bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max); - bounding_box_.height = std::clamp( - bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); + limitObjectExtension(object_model_); // update motion model - motion_model_.updateExtendedState(bounding_box_.length); + motion_model_.updateExtendedState(object_extension.x); return true; } -bool BicycleTracker::measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) +bool BicycleTracker::measure(const types::DynamicObject & object, const rclcpp::Time & time) { - // keep the latest input object - object_ = object; - - // update classification - const auto & current_classification = getClassification(); - if ( - autoware::object_recognition_utils::getHighestProbLabel(object.classification) == - Label::UNKNOWN) { - setClassification(current_classification); - } - // check time gap const double dt = motion_model_.getDeltaTime(time); if (0.01 /*10msec*/ < dt) { @@ -256,9 +207,8 @@ bool BicycleTracker::measure( } // update object - const types::DynamicObject updating_object = getUpdatingObject(object, self_transform); - measureWithPose(updating_object); - measureWithShape(updating_object); + measureWithPose(object); + measureWithShape(object); return true; } @@ -267,29 +217,20 @@ bool BicycleTracker::getTrackedObject( const rclcpp::Time & time, types::DynamicObject & object) const { object = object_; - object.object_id = getUUID(); - object.classification = getClassification(); - - auto & pose_with_cov = object.kinematics.pose_with_covariance; - auto & twist_with_cov = object.kinematics.twist_with_covariance; // predict from motion model - if (!motion_model_.getPredictedState( - time, pose_with_cov.pose, pose_with_cov.covariance, twist_with_cov.twist, - twist_with_cov.covariance)) { + auto & pose = object.pose; + auto & pose_cov = object.pose_covariance; + auto & twist = object.twist; + auto & twist_cov = object.twist_covariance; + if (!motion_model_.getPredictedState(time, pose, pose_cov, twist, twist_cov)) { RCLCPP_WARN(logger_, "BicycleTracker::getTrackedObject: Failed to get predicted state."); return false; } - // position - pose_with_cov.pose.position.z = z_; - // set shape - object.shape.dimensions.x = bounding_box_.length; - object.shape.dimensions.y = bounding_box_.width; - object.shape.dimensions.z = bounding_box_.height; - const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation); - const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation); + const auto origin_yaw = tf2::getYaw(object_.pose.orientation); + const auto ekf_pose_yaw = tf2::getYaw(pose.orientation); object.shape.footprint = autoware_utils::rotate_polygon(object.shape.footprint, origin_yaw - ekf_pose_yaw); diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp index 9f249ab3bc7bc..2803f65a84d29 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp @@ -22,17 +22,12 @@ namespace autoware::multi_object_tracker { - -using Label = autoware_perception_msgs::msg::ObjectClassification; - MultipleVehicleTracker::MultipleVehicleTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size) -: Tracker(time, object.classification, channel_size), - normal_vehicle_tracker_(object_model::normal_vehicle, time, object, channel_size), - big_vehicle_tracker_(object_model::big_vehicle, time, object, channel_size) + const rclcpp::Time & time, const types::DynamicObject & object) +: Tracker(time, object), + normal_vehicle_tracker_(object_model::normal_vehicle, time, object), + big_vehicle_tracker_(object_model::big_vehicle, time, object) { - // initialize existence probability - initializeExistenceProbabilities(object.channel_index, object.existence_probability); } bool MultipleVehicleTracker::predict(const rclcpp::Time & time) @@ -42,16 +37,11 @@ bool MultipleVehicleTracker::predict(const rclcpp::Time & time) return true; } -bool MultipleVehicleTracker::measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) +bool MultipleVehicleTracker::measure(const types::DynamicObject & object, const rclcpp::Time & time) { - big_vehicle_tracker_.measure(object, time, self_transform); - normal_vehicle_tracker_.measure(object, time, self_transform); - if ( - autoware::object_recognition_utils::getHighestProbLabel(object.classification) != - Label::UNKNOWN) - updateClassification(object.classification); + big_vehicle_tracker_.measure(object, time); + normal_vehicle_tracker_.measure(object, time); + return true; } @@ -66,8 +56,8 @@ bool MultipleVehicleTracker::getTrackedObject( } else if (label == Label::BUS || label == Label::TRUCK || label == Label::TRAILER) { big_vehicle_tracker_.getTrackedObject(time, object); } - object.object_id = getUUID(); - object.classification = getClassification(); + object.uuid = object_.uuid; + object.classification = object_.classification; return true; } diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp index 0ec33d3fafcbe..27500ee942d7f 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp @@ -34,18 +34,11 @@ namespace autoware::multi_object_tracker { - PassThroughTracker::PassThroughTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size) -: Tracker(time, object.classification, channel_size), - logger_(rclcpp::get_logger("PassThroughTracker")), - last_update_time_(time) + const rclcpp::Time & time, const types::DynamicObject & object) +: Tracker(time, object), logger_(rclcpp::get_logger("PassThroughTracker")), last_update_time_(time) { - object_ = object; prev_observed_object_ = object; - - // initialize existence probability - initializeExistenceProbabilities(object.channel_index, object.existence_probability); } bool PassThroughTracker::predict(const rclcpp::Time & time) @@ -59,9 +52,7 @@ bool PassThroughTracker::predict(const rclcpp::Time & time) return true; } -bool PassThroughTracker::measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) +bool PassThroughTracker::measure(const types::DynamicObject & object, const rclcpp::Time & time) { prev_observed_object_ = object_; object_ = object; @@ -69,15 +60,12 @@ bool PassThroughTracker::measure( // Update Velocity if the observed object does not have twist information const double dt = (time - last_update_time_).seconds(); if (!object_.kinematics.has_twist && dt > 1e-6) { - const double dx = object_.kinematics.pose_with_covariance.pose.position.x - - prev_observed_object_.kinematics.pose_with_covariance.pose.position.x; - const double dy = object_.kinematics.pose_with_covariance.pose.position.y - - prev_observed_object_.kinematics.pose_with_covariance.pose.position.y; - object_.kinematics.twist_with_covariance.twist.linear.x = std::hypot(dx, dy) / dt; + const double dx = object_.pose.position.x - prev_observed_object_.pose.position.x; + const double dy = object_.pose.position.y - prev_observed_object_.pose.position.y; + object_.twist.linear.x = std::hypot(dx, dy) / dt; } last_update_time_ = time; - (void)self_transform; // currently do not use self vehicle position return true; } @@ -86,24 +74,23 @@ bool PassThroughTracker::getTrackedObject( { using autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; object = object_; - object.object_id = getUUID(); - object.classification = getClassification(); - object.kinematics.pose_with_covariance.covariance[XYZRPY_COV_IDX::X_X] = 0.0; - object.kinematics.pose_with_covariance.covariance[XYZRPY_COV_IDX::X_Y] = 0.0; - object.kinematics.pose_with_covariance.covariance[XYZRPY_COV_IDX::Y_X] = 0.0; - object.kinematics.pose_with_covariance.covariance[XYZRPY_COV_IDX::Y_Y] = 0.0; - object.kinematics.pose_with_covariance.covariance[XYZRPY_COV_IDX::Z_Z] = 0.0; - object.kinematics.pose_with_covariance.covariance[XYZRPY_COV_IDX::ROLL_ROLL] = 0.0; - object.kinematics.pose_with_covariance.covariance[XYZRPY_COV_IDX::PITCH_PITCH] = 0.0; - object.kinematics.pose_with_covariance.covariance[XYZRPY_COV_IDX::YAW_YAW] = 0.0; + + object.pose_covariance[XYZRPY_COV_IDX::X_X] = 0.0; + object.pose_covariance[XYZRPY_COV_IDX::X_Y] = 0.0; + object.pose_covariance[XYZRPY_COV_IDX::Y_X] = 0.0; + object.pose_covariance[XYZRPY_COV_IDX::Y_Y] = 0.0; + object.pose_covariance[XYZRPY_COV_IDX::Z_Z] = 0.0; + object.pose_covariance[XYZRPY_COV_IDX::ROLL_ROLL] = 0.0; + object.pose_covariance[XYZRPY_COV_IDX::PITCH_PITCH] = 0.0; + object.pose_covariance[XYZRPY_COV_IDX::YAW_YAW] = 0.0; // twist covariance - object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::X_X] = 0.0; - object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::Y_Y] = 0.0; - object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::Z_Z] = 0.0; - object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::ROLL_ROLL] = 0.0; - object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::PITCH_PITCH] = 0.0; - object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::YAW_YAW] = 0.0; + object.twist_covariance[XYZRPY_COV_IDX::X_X] = 0.0; + object.twist_covariance[XYZRPY_COV_IDX::Y_Y] = 0.0; + object.twist_covariance[XYZRPY_COV_IDX::Z_Z] = 0.0; + object.twist_covariance[XYZRPY_COV_IDX::ROLL_ROLL] = 0.0; + object.twist_covariance[XYZRPY_COV_IDX::PITCH_PITCH] = 0.0; + object.twist_covariance[XYZRPY_COV_IDX::YAW_YAW] = 0.0; const double dt = (time - last_update_time_).seconds(); if (0.5 /*500msec*/ < dt) { diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp index 21ce949231062..0c28205cc2958 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp @@ -20,17 +20,10 @@ namespace autoware::multi_object_tracker { - -using Label = autoware_perception_msgs::msg::ObjectClassification; - PedestrianAndBicycleTracker::PedestrianAndBicycleTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size) -: Tracker(time, object.classification, channel_size), - pedestrian_tracker_(time, object, channel_size), - bicycle_tracker_(time, object, channel_size) + const rclcpp::Time & time, const types::DynamicObject & object) +: Tracker(time, object), pedestrian_tracker_(time, object), bicycle_tracker_(time, object) { - // initialize existence probability - initializeExistenceProbabilities(object.channel_index, object.existence_probability); } bool PedestrianAndBicycleTracker::predict(const rclcpp::Time & time) @@ -41,15 +34,11 @@ bool PedestrianAndBicycleTracker::predict(const rclcpp::Time & time) } bool PedestrianAndBicycleTracker::measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) + const types::DynamicObject & object, const rclcpp::Time & time) { - pedestrian_tracker_.measure(object, time, self_transform); - bicycle_tracker_.measure(object, time, self_transform); - if ( - autoware::object_recognition_utils::getHighestProbLabel(object.classification) != - Label::UNKNOWN) - updateClassification(object.classification); + pedestrian_tracker_.measure(object, time); + bicycle_tracker_.measure(object, time); + return true; } @@ -64,8 +53,8 @@ bool PedestrianAndBicycleTracker::getTrackedObject( } else if (label == Label::BICYCLE || label == Label::MOTORCYCLE) { bicycle_tracker_.getTrackedObject(time, object); } - object.object_id = getUUID(); - object.classification = getClassification(); + object.uuid = object_.uuid; + object.classification = object_.classification; return true; } diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp index fecd02d4ea898..6543591bda22d 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp @@ -38,44 +38,18 @@ namespace autoware::multi_object_tracker { - -using Label = autoware_perception_msgs::msg::ObjectClassification; - -PedestrianTracker::PedestrianTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size) -: Tracker(time, object.classification, channel_size), - logger_(rclcpp::get_logger("PedestrianTracker")), - z_(object.kinematics.pose_with_covariance.pose.position.z) +PedestrianTracker::PedestrianTracker(const rclcpp::Time & time, const types::DynamicObject & object) +: Tracker(time, object), logger_(rclcpp::get_logger("PedestrianTracker")) { - object_ = object; - - // initialize existence probability - initializeExistenceProbabilities(object.channel_index, object.existence_probability); - - // OBJECT SHAPE MODEL - bounding_box_ = { - object_model_.init_size.length, object_model_.init_size.width, - object_model_.init_size.height}; // default value - cylinder_ = {object_model_.init_size.length, object_model_.init_size.height}; // default value - if (object.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - bounding_box_ = { - object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z}; - } else if (object.shape.type == autoware_perception_msgs::msg::Shape::CYLINDER) { - cylinder_ = {object.shape.dimensions.x, object.shape.dimensions.z}; - } else if (object.shape.type == autoware_perception_msgs::msg::Shape::POLYGON) { - // do not update polygon shape + if (object.shape.type == autoware_perception_msgs::msg::Shape::POLYGON) { + // set default initial size + auto & object_extension = object_.shape.dimensions; + object_extension.x = object_model_.init_size.length; + object_extension.y = object_model_.init_size.width; + object_extension.z = object_model_.init_size.height; } // set maximum and minimum size - bounding_box_.length = std::clamp( - bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - bounding_box_.width = std::clamp( - bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max); - bounding_box_.height = std::clamp( - bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); - cylinder_.width = std::clamp( - cylinder_.width, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - cylinder_.height = std::clamp( - cylinder_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); + limitObjectExtension(object_model_); // Set motion model parameters { @@ -97,11 +71,11 @@ PedestrianTracker::PedestrianTracker( // Set initial state { using autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; - const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const double x = object.pose.position.x; + const double y = object.pose.position.y; + const double yaw = tf2::getYaw(object.pose.orientation); - auto pose_cov = object.kinematics.pose_with_covariance.covariance; + auto pose_cov = object.pose_covariance; if (!object.kinematics.has_position_covariance) { // initial state covariance const auto & p0_cov_x = object_model_.initial_covariance.pos_x; @@ -121,15 +95,15 @@ PedestrianTracker::PedestrianTracker( double vel = 0.0; double wz = 0.0; if (object.kinematics.has_twist) { - vel = object.kinematics.twist_with_covariance.twist.linear.x; - wz = object.kinematics.twist_with_covariance.twist.angular.z; + vel = object.twist.linear.x; + wz = object.twist.angular.z; } double vel_cov = object_model_.initial_covariance.vel_long; double wz_cov = object_model_.initial_covariance.yaw_rate; if (object.kinematics.has_twist_covariance) { - vel_cov = object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::X_X]; - wz_cov = object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::YAW_YAW]; + vel_cov = object.twist_covariance[XYZRPY_COV_IDX::X_X]; + wz_cov = object.twist_covariance[XYZRPY_COV_IDX::YAW_YAW]; } // initialize motion model @@ -142,104 +116,61 @@ bool PedestrianTracker::predict(const rclcpp::Time & time) return motion_model_.predictState(time); } -types::DynamicObject PedestrianTracker::getUpdatingObject( - const types::DynamicObject & object, - const geometry_msgs::msg::Transform & /*self_transform*/) const -{ - types::DynamicObject updating_object = object; - - return updating_object; -} - bool PedestrianTracker::measureWithPose(const types::DynamicObject & object) { // update motion model bool is_updated = false; { - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; + const double x = object.pose.position.x; + const double y = object.pose.position.y; - is_updated = - motion_model_.updateStatePose(x, y, object.kinematics.pose_with_covariance.covariance); + is_updated = motion_model_.updateStatePose(x, y, object.pose_covariance); motion_model_.limitStates(); } // position z constexpr double gain = 0.1; - z_ = (1.0 - gain) * z_ + gain * object.kinematics.pose_with_covariance.pose.position.z; + object_.pose.position.z = (1.0 - gain) * object_.pose.position.z + gain * object.pose.position.z; return is_updated; } bool PedestrianTracker::measureWithShape(const types::DynamicObject & object) { - constexpr double gain = 0.1; - constexpr double gain_inv = 1.0 - gain; - - if (object.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - // check bound box size abnormality - constexpr double size_max = 30.0; // [m] - constexpr double size_min = 0.1; // [m] - bool is_size_valid = - (object.shape.dimensions.x <= size_max && object.shape.dimensions.y <= size_max && - object.shape.dimensions.z <= size_max && object.shape.dimensions.x >= size_min && - object.shape.dimensions.y >= size_min && object.shape.dimensions.z >= size_min); - if (!is_size_valid) { - return false; - } - // update bounding box size - bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x; - bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y; - bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z; - - } else if (object.shape.type == autoware_perception_msgs::msg::Shape::CYLINDER) { - // check cylinder size abnormality + if (object.shape.type != autoware_perception_msgs::msg::Shape::POLYGON) { constexpr double size_max = 30.0; // [m] constexpr double size_min = 0.1; // [m] - bool is_size_valid = - (object.shape.dimensions.x <= size_max && object.shape.dimensions.z <= size_max && - object.shape.dimensions.x >= size_min && object.shape.dimensions.z >= size_min); - if (!is_size_valid) { + if ( + object.shape.dimensions.x > size_max || object.shape.dimensions.x < size_min || + object.shape.dimensions.y > size_max || object.shape.dimensions.y < size_min || + object.shape.dimensions.z > size_max || object.shape.dimensions.z < size_min) { return false; } - // update cylinder size - cylinder_.width = gain_inv * cylinder_.width + gain * object.shape.dimensions.x; - cylinder_.height = gain_inv * cylinder_.height + gain * object.shape.dimensions.z; - + constexpr double gain = 0.5; + constexpr double gain_inv = 1.0 - gain; + auto & object_extension = object_.shape.dimensions; + object_extension.x = gain_inv * object_extension.x + gain * object.shape.dimensions.x; + object_extension.y = gain_inv * object_extension.y + gain * object.shape.dimensions.y; + object_extension.z = gain_inv * object_extension.z + gain * object.shape.dimensions.z; + + // update shape type, bounding box or cylinder + object_.shape.type = object.shape.type; + + // set maximum and minimum size + limitObjectExtension(object_model_); } else { // do not update polygon shape return false; } - // set maximum and minimum size - bounding_box_.length = std::clamp( - bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - bounding_box_.width = std::clamp( - bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max); - bounding_box_.height = std::clamp( - bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); - cylinder_.width = std::clamp( - cylinder_.width, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - cylinder_.height = std::clamp( - cylinder_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); + // update shape type + object_.shape.type = object.shape.type; return true; } -bool PedestrianTracker::measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) +bool PedestrianTracker::measure(const types::DynamicObject & object, const rclcpp::Time & time) { - // keep the latest input object - object_ = object; - - const auto & current_classification = getClassification(); - if ( - autoware::object_recognition_utils::getHighestProbLabel(object.classification) == - Label::UNKNOWN) { - setClassification(current_classification); - } - // check time gap const double dt = motion_model_.getDeltaTime(time); if (0.01 /*10msec*/ < dt) { @@ -251,11 +182,9 @@ bool PedestrianTracker::measure( } // update object - const types::DynamicObject updating_object = getUpdatingObject(object, self_transform); - measureWithPose(updating_object); - measureWithShape(updating_object); + measureWithPose(object); + measureWithShape(object); - (void)self_transform; // currently do not use self vehicle position return true; } @@ -263,38 +192,22 @@ bool PedestrianTracker::getTrackedObject( const rclcpp::Time & time, types::DynamicObject & object) const { object = object_; - object.object_id = getUUID(); - object.classification = getClassification(); - - auto & pose_with_cov = object.kinematics.pose_with_covariance; - auto & twist_with_cov = object.kinematics.twist_with_covariance; // predict from motion model - if (!motion_model_.getPredictedState( - time, pose_with_cov.pose, pose_with_cov.covariance, twist_with_cov.twist, - twist_with_cov.covariance)) { + auto & pose = object.pose; + auto & pose_cov = object.pose_covariance; + auto & twist = object.twist; + auto & twist_cov = object.twist_covariance; + if (!motion_model_.getPredictedState(time, pose, pose_cov, twist, twist_cov)) { RCLCPP_WARN(logger_, "PedestrianTracker::getTrackedObject: Failed to get predicted state."); return false; } - // position - pose_with_cov.pose.position.z = z_; - // set shape - if (object.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - object.shape.dimensions.x = bounding_box_.length; - object.shape.dimensions.y = bounding_box_.width; - object.shape.dimensions.z = bounding_box_.height; - } else if (object.shape.type == autoware_perception_msgs::msg::Shape::CYLINDER) { - object.shape.dimensions.x = cylinder_.width; - object.shape.dimensions.y = cylinder_.width; - object.shape.dimensions.z = cylinder_.height; - } else if (object.shape.type == autoware_perception_msgs::msg::Shape::POLYGON) { - const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation); - const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation); - object.shape.footprint = - autoware_utils::rotate_polygon(object.shape.footprint, origin_yaw - ekf_pose_yaw); - } + const auto origin_yaw = tf2::getYaw(object_.pose.orientation); + const auto ekf_pose_yaw = tf2::getYaw(pose.orientation); + object.shape.footprint = + autoware_utils::rotate_polygon(object.shape.footprint, origin_yaw - ekf_pose_yaw); return true; } diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp index 31ad1bf94cadd..a8a52e59cf079 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp @@ -42,23 +42,22 @@ float decayProbability(const float & prior, const float & delta_time) namespace autoware::multi_object_tracker { -Tracker::Tracker( - const rclcpp::Time & time, - const std::vector & classification, - const size_t & channel_size) -: classification_(classification), - no_measurement_count_(0), +Tracker::Tracker(const rclcpp::Time & time, const types::DynamicObject & detected_object) +: no_measurement_count_(0), total_no_measurement_count_(0), total_measurement_count_(1), - last_update_with_measurement_time_(time) + last_update_with_measurement_time_(time), + object_(detected_object) { // Generate random number std::mt19937 gen(std::random_device{}()); std::independent_bits_engine bit_eng(gen); - std::generate(uuid_.uuid.begin(), uuid_.uuid.end(), bit_eng); + unique_identifier_msgs::msg::UUID uuid_msg; + std::generate(uuid_msg.uuid.begin(), uuid_msg.uuid.end(), bit_eng); + object_.uuid = uuid_msg; // Initialize existence probabilities - existence_probabilities_.resize(channel_size, 0.001); + existence_probabilities_.resize(types::max_channel_size, 0.001); total_existence_probability_ = 0.001; } @@ -80,7 +79,7 @@ void Tracker::initializeExistenceProbabilities( bool Tracker::updateWithMeasurement( const types::DynamicObject & object, const rclcpp::Time & measurement_time, - const geometry_msgs::msg::Transform & self_transform) + const types::InputChannel & channel_info) { // Update existence probability { @@ -94,7 +93,7 @@ bool Tracker::updateWithMeasurement( constexpr float probability_false_detection = 0.2; // update measured channel probability without decay - const uint channel_index = object.channel_index; + const uint & channel_index = channel_info.index; existence_probabilities_[channel_index] = updateProbability( existence_probabilities_[channel_index], probability_true_detection, probability_false_detection); @@ -113,8 +112,15 @@ bool Tracker::updateWithMeasurement( last_update_with_measurement_time_ = measurement_time; + // Update classification + if ( + autoware::object_recognition_utils::getHighestProbLabel(object.classification) != + autoware_perception_msgs::msg::ObjectClassification::UNKNOWN) { + updateClassification(object.classification); + } + // Update object - measure(object, measurement_time, self_transform); + measure(object, measurement_time); return true; } @@ -168,6 +174,8 @@ void Tracker::updateClassification( auto classification_input = classification; normalizeProbabilities(classification_input); + auto & classification_ = object_.classification; + // Update the matched classification probability with a gain for (const auto & new_class : classification_input) { bool found = false; @@ -197,12 +205,16 @@ void Tracker::updateClassification( normalizeProbabilities(classification_); } -geometry_msgs::msg::PoseWithCovariance Tracker::getPoseWithCovariance( - const rclcpp::Time & time) const +void Tracker::limitObjectExtension(const object_model::ObjectModel object_model) { - types::DynamicObject object; - getTrackedObject(time, object); - return object.kinematics.pose_with_covariance; + auto & object_extension = object_.shape.dimensions; + // set maximum and minimum size + object_extension.x = std::clamp( + object_extension.x, object_model.size_limit.length_min, object_model.size_limit.length_max); + object_extension.y = std::clamp( + object_extension.y, object_model.size_limit.width_min, object_model.size_limit.width_max); + object_extension.z = std::clamp( + object_extension.z, object_model.size_limit.height_min, object_model.size_limit.height_max); } } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp index 1da27db525b45..f97411dc1dc9c 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp @@ -35,24 +35,9 @@ namespace autoware::multi_object_tracker { -UnknownTracker::UnknownTracker( - const rclcpp::Time & time, const types::DynamicObject & object, const size_t channel_size) -: Tracker(time, object.classification, channel_size), - logger_(rclcpp::get_logger("UnknownTracker")), - z_(object.kinematics.pose_with_covariance.pose.position.z) +UnknownTracker::UnknownTracker(const rclcpp::Time & time, const types::DynamicObject & object) +: Tracker(time, object), logger_(rclcpp::get_logger("UnknownTracker")) { - object_ = object; - - // initialize existence probability - initializeExistenceProbabilities(object.channel_index, object.existence_probability); - - // initialize params - // measurement noise covariance - constexpr double r_stddev_x = 1.0; // [m] - constexpr double r_stddev_y = 1.0; // [m] - ekf_params_.r_cov_x = std::pow(r_stddev_x, 2.0); - ekf_params_.r_cov_y = std::pow(r_stddev_y, 2.0); - // Set motion model parameters { constexpr double q_stddev_x = 0.5; // [m/s] @@ -71,17 +56,17 @@ UnknownTracker::UnknownTracker( // Set initial state { using autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; - auto pose_cov = object.kinematics.pose_with_covariance.covariance; - auto twist_cov = object.kinematics.twist_with_covariance.covariance; - const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const double x = object.pose.position.x; + const double y = object.pose.position.y; + auto pose_cov = object.pose_covariance; + auto twist_cov = object.twist_covariance; + const double yaw = tf2::getYaw(object.pose.orientation); double vx = 0.0; double vy = 0.0; if (object.kinematics.has_twist) { - const double & vel_x = object.kinematics.twist_with_covariance.twist.linear.x; - const double & vel_y = object.kinematics.twist_with_covariance.twist.linear.y; + const double & vel_x = object.twist.linear.x; + const double & vel_y = object.twist.linear.y; vx = std::cos(yaw) * vel_x - std::sin(yaw) * vel_y; vy = std::sin(yaw) * vel_x + std::cos(yaw) * vel_y; } @@ -136,58 +121,30 @@ bool UnknownTracker::predict(const rclcpp::Time & time) return motion_model_.predictState(time); } -types::DynamicObject UnknownTracker::getUpdatingObject( - const types::DynamicObject & object, const geometry_msgs::msg::Transform & /*self_transform*/) -{ - types::DynamicObject updating_object = object; - - // UNCERTAINTY MODEL - if (!object.kinematics.has_position_covariance) { - // fill covariance matrix - using autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - const double & r_cov_x = ekf_params_.r_cov_x; - const double & r_cov_y = ekf_params_.r_cov_y; - auto & pose_cov = updating_object.kinematics.pose_with_covariance.covariance; - const double pose_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - const double cos_yaw = std::cos(pose_yaw); - const double sin_yaw = std::sin(pose_yaw); - const double sin_2yaw = std::sin(2.0f * pose_yaw); - pose_cov[XYZRPY_COV_IDX::X_X] = - r_cov_x * cos_yaw * cos_yaw + r_cov_y * sin_yaw * sin_yaw; // x - x - pose_cov[XYZRPY_COV_IDX::X_Y] = 0.5f * (r_cov_x - r_cov_y) * sin_2yaw; // x - y - pose_cov[XYZRPY_COV_IDX::Y_Y] = - r_cov_x * sin_yaw * sin_yaw + r_cov_y * cos_yaw * cos_yaw; // y - y - pose_cov[XYZRPY_COV_IDX::Y_X] = pose_cov[XYZRPY_COV_IDX::X_Y]; // y - x - } - return updating_object; -} - bool UnknownTracker::measureWithPose(const types::DynamicObject & object) { // update motion model bool is_updated = false; { - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; + const double x = object.pose.position.x; + const double y = object.pose.position.y; - is_updated = - motion_model_.updateStatePose(x, y, object.kinematics.pose_with_covariance.covariance); + is_updated = motion_model_.updateStatePose(x, y, object.pose_covariance); motion_model_.limitStates(); } // position z constexpr double gain = 0.1; - z_ = (1.0 - gain) * z_ + gain * object.kinematics.pose_with_covariance.pose.position.z; + object_.pose.position.z = (1.0 - gain) * object_.pose.position.z + gain * object.pose.position.z; return is_updated; } -bool UnknownTracker::measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) +bool UnknownTracker::measure(const types::DynamicObject & object, const rclcpp::Time & time) { - // keep the latest input object - object_ = object; + // update object shape + object_.shape = object.shape; + object_.pose.orientation = object.pose.orientation; // check time gap const double dt = motion_model_.getDeltaTime(time); @@ -200,8 +157,7 @@ bool UnknownTracker::measure( } // update object - const types::DynamicObject updating_object = getUpdatingObject(object, self_transform); - measureWithPose(updating_object); + measureWithPose(object); return true; } @@ -210,23 +166,17 @@ bool UnknownTracker::getTrackedObject( const rclcpp::Time & time, types::DynamicObject & object) const { object = object_; - object.object_id = getUUID(); - object.classification = getClassification(); - - auto & pose_with_cov = object.kinematics.pose_with_covariance; - auto & twist_with_cov = object.kinematics.twist_with_covariance; // predict from motion model - if (!motion_model_.getPredictedState( - time, pose_with_cov.pose, pose_with_cov.covariance, twist_with_cov.twist, - twist_with_cov.covariance)) { + auto & pose = object.pose; + auto & pose_cov = object.pose_covariance; + auto & twist = object.twist; + auto & twist_cov = object.twist_covariance; + if (!motion_model_.getPredictedState(time, pose, pose_cov, twist, twist_cov)) { RCLCPP_WARN(logger_, "UnknownTracker::getTrackedObject: Failed to get predicted state."); return false; } - // position - pose_with_cov.pose.position.z = z_; - return true; } diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp index 201db246fb4b3..9183ce3168ca5 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp @@ -40,55 +40,30 @@ namespace autoware::multi_object_tracker { - -using Label = autoware_perception_msgs::msg::ObjectClassification; - VehicleTracker::VehicleTracker( const object_model::ObjectModel & object_model, const rclcpp::Time & time, - const types::DynamicObject & object, const size_t channel_size) -: Tracker(time, object.classification, channel_size), + const types::DynamicObject & object) +: Tracker(time, object), object_model_(object_model), logger_(rclcpp::get_logger("VehicleTracker")), - z_(object.kinematics.pose_with_covariance.pose.position.z), tracking_offset_(Eigen::Vector2d::Zero()) { - object_ = object; - - // initialize existence probability - initializeExistenceProbabilities(object.channel_index, object.existence_probability); - // velocity deviation threshold // if the predicted velocity is close to the observed velocity, // the observed velocity is used as the measurement. velocity_deviation_threshold_ = autoware_utils::kmph2mps(10); // [m/s] - // OBJECT SHAPE MODEL - if (object.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - bounding_box_ = { - object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z}; - } else { - types::DynamicObject bbox_object; - if (!shapes::convertConvexHullToBoundingBox(object, bbox_object)) { - RCLCPP_WARN( - logger_, - "VehicleTracker::VehicleTracker: Failed to convert convex hull to bounding " - "box."); - bounding_box_ = { - object_model_.init_size.length, object_model_.init_size.width, - object_model_.init_size.height}; // default value - } else { - bounding_box_ = { - bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, - bbox_object.shape.dimensions.z}; - } + if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { + // set default initial size + auto & object_extension = object_.shape.dimensions; + object_extension.x = object_model_.init_size.length; + object_extension.y = object_model_.init_size.width; + object_extension.z = object_model_.init_size.height; } + object_.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + // set maximum and minimum size - bounding_box_.length = std::clamp( - bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - bounding_box_.width = std::clamp( - bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max); - bounding_box_.height = std::clamp( - bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); + limitObjectExtension(object_model_); // Set motion model parameters { @@ -119,11 +94,11 @@ VehicleTracker::VehicleTracker( // Set initial state { using autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; - const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const double x = object.pose.position.x; + const double y = object.pose.position.y; + const double yaw = tf2::getYaw(object.pose.orientation); - auto pose_cov = object.kinematics.pose_with_covariance.covariance; + auto pose_cov = object.pose_covariance; if (!object.kinematics.has_position_covariance) { // initial state covariance const auto & p0_cov_x = object_model_.initial_covariance.pos_x; @@ -143,15 +118,15 @@ VehicleTracker::VehicleTracker( double vel = 0.0; double vel_cov = object_model_.initial_covariance.vel_long; if (object.kinematics.has_twist) { - vel = object.kinematics.twist_with_covariance.twist.linear.x; + vel = object.twist.linear.x; } if (object.kinematics.has_twist_covariance) { - vel_cov = object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::X_X]; + vel_cov = object.twist_covariance[XYZRPY_COV_IDX::X_X]; } const double slip = 0.0; const double slip_cov = object_model_.bicycle_state.init_slip_angle_cov; - const double & length = bounding_box_.length; + const double & length = object_.shape.dimensions.x; // initialize motion model motion_model_.initialize(time, x, y, yaw, pose_cov, vel, vel_cov, slip, slip_cov, length); @@ -160,39 +135,11 @@ VehicleTracker::VehicleTracker( bool VehicleTracker::predict(const rclcpp::Time & time) { - return motion_model_.predictState(time); -} - -types::DynamicObject VehicleTracker::getUpdatingObject( - const types::DynamicObject & object, const geometry_msgs::msg::Transform & self_transform) -{ - types::DynamicObject updating_object = object; - - // OBJECT SHAPE MODEL - // convert to bounding box if input is convex shape - types::DynamicObject bbox_object = object; - if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - if (!shapes::convertConvexHullToBoundingBox(object, bbox_object)) { - RCLCPP_WARN( - logger_, - "VehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box."); - bbox_object = object; - } + bool success = motion_model_.predictState(time); + if (!success) { + return false; } - - // current (predicted) state - const double tracked_x = motion_model_.getStateElement(IDX::X); - const double tracked_y = motion_model_.getStateElement(IDX::Y); - const double tracked_yaw = motion_model_.getStateElement(IDX::YAW); - - // get offset measurement - const int nearest_corner_index = shapes::getNearestCornerOrSurface( - tracked_x, tracked_y, tracked_yaw, bounding_box_.width, bounding_box_.length, self_transform); - shapes::calcAnchorPointOffset( - bounding_box_.width, bounding_box_.length, nearest_corner_index, bbox_object, tracked_yaw, - updating_object, tracking_offset_); - - return updating_object; + return true; } bool VehicleTracker::measureWithPose(const types::DynamicObject & object) @@ -204,7 +151,7 @@ bool VehicleTracker::measureWithPose(const types::DynamicObject & object) // and the predicted velocity is close to the observed velocity bool is_velocity_available = false; if (object.kinematics.has_twist) { - const double & observed_vel = object.kinematics.twist_with_covariance.twist.linear.x; + const double & observed_vel = object.twist.linear.x; if (std::fabs(tracked_vel - observed_vel) < velocity_deviation_threshold_) { // Velocity deviation is small is_velocity_available = true; @@ -214,25 +161,23 @@ bool VehicleTracker::measureWithPose(const types::DynamicObject & object) // update bool is_updated = false; { - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; - const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - const double vel = object.kinematics.twist_with_covariance.twist.linear.x; + const double x = object.pose.position.x; + const double y = object.pose.position.y; + const double yaw = tf2::getYaw(object.pose.orientation); + const double vel = object.twist.linear.x; if (is_velocity_available) { is_updated = motion_model_.updateStatePoseHeadVel( - x, y, yaw, object.kinematics.pose_with_covariance.covariance, vel, - object.kinematics.twist_with_covariance.covariance); + x, y, yaw, object.pose_covariance, vel, object.twist_covariance); } else { - is_updated = motion_model_.updateStatePoseHead( - x, y, yaw, object.kinematics.pose_with_covariance.covariance); + is_updated = motion_model_.updateStatePoseHead(x, y, yaw, object.pose_covariance); } motion_model_.limitStates(); } // position z constexpr double gain = 0.1; - z_ = (1.0 - gain) * z_ + gain * object.kinematics.pose_with_covariance.pose.position.z; + object_.pose.position.z = (1.0 - gain) * object_.pose.position.z + gain * object.pose.position.z; return is_updated; } @@ -247,30 +192,25 @@ bool VehicleTracker::measureWithShape(const types::DynamicObject & object) // check object size abnormality constexpr double size_max = 35.0; // [m] constexpr double size_min = 1.0; // [m] - bool is_size_valid = - (object.shape.dimensions.x <= size_max && object.shape.dimensions.y <= size_max && - object.shape.dimensions.x >= size_min && object.shape.dimensions.y >= size_min); - if (!is_size_valid) { + if ( + object.shape.dimensions.x > size_max || object.shape.dimensions.x < size_min || + object.shape.dimensions.y > size_max || object.shape.dimensions.y < size_min) { return false; } // update object size constexpr double gain = 0.5; constexpr double gain_inv = 1.0 - gain; - bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x; - bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y; - bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z; + auto & object_extension = object_.shape.dimensions; + object_extension.x = gain_inv * object_extension.x + gain * object.shape.dimensions.x; + object_extension.y = gain_inv * object_extension.y + gain * object.shape.dimensions.y; + object_extension.z = gain_inv * object_extension.z + gain * object.shape.dimensions.z; // set maximum and minimum size - bounding_box_.length = std::clamp( - bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - bounding_box_.width = std::clamp( - bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max); - bounding_box_.height = std::clamp( - bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); + limitObjectExtension(object_model_); // update motion model - motion_model_.updateExtendedState(bounding_box_.length); + motion_model_.updateExtendedState(object_extension.x); // update offset into object position { @@ -289,21 +229,8 @@ bool VehicleTracker::measureWithShape(const types::DynamicObject & object) return true; } -bool VehicleTracker::measure( - const types::DynamicObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) +bool VehicleTracker::measure(const types::DynamicObject & in_object, const rclcpp::Time & time) { - // keep the latest input object - object_ = object; - - // update classification - const auto & current_classification = getClassification(); - if ( - autoware::object_recognition_utils::getHighestProbLabel(object.classification) == - Label::UNKNOWN) { - setClassification(current_classification); - } - // check time gap const double dt = motion_model_.getDeltaTime(time); if (0.01 /*10msec*/ < dt) { @@ -315,7 +242,8 @@ bool VehicleTracker::measure( } // update object - const types::DynamicObject updating_object = getUpdatingObject(object, self_transform); + types::DynamicObject updating_object = in_object; + shapes::calcAnchorPointOffset(object_, tracking_offset_, updating_object); measureWithPose(updating_object); measureWithShape(updating_object); @@ -326,29 +254,20 @@ bool VehicleTracker::getTrackedObject( const rclcpp::Time & time, types::DynamicObject & object) const { object = object_; - object.object_id = getUUID(); - object.classification = getClassification(); - - auto & pose_with_cov = object.kinematics.pose_with_covariance; - auto & twist_with_cov = object.kinematics.twist_with_covariance; // predict from motion model - if (!motion_model_.getPredictedState( - time, pose_with_cov.pose, pose_with_cov.covariance, twist_with_cov.twist, - twist_with_cov.covariance)) { + auto & pose = object.pose; + auto & pose_cov = object.pose_covariance; + auto & twist = object.twist; + auto & twist_cov = object.twist_covariance; + if (!motion_model_.getPredictedState(time, pose, pose_cov, twist, twist_cov)) { RCLCPP_WARN(logger_, "VehicleTracker::getTrackedObject: Failed to get predicted state."); return false; } - // position - pose_with_cov.pose.position.z = z_; - // set shape - object.shape.dimensions.x = bounding_box_.length; - object.shape.dimensions.y = bounding_box_.width; - object.shape.dimensions.z = bounding_box_.height; - const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation); - const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation); + const auto origin_yaw = tf2::getYaw(object_.pose.orientation); + const auto ekf_pose_yaw = tf2::getYaw(pose.orientation); object.shape.footprint = autoware_utils::rotate_polygon(object.shape.footprint, origin_yaw - ekf_pose_yaw); diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp index 52dd3bc3cc66f..a0b5861acbd0b 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp @@ -412,7 +412,7 @@ bool BicycleMotionModel::getPredictedState( // set position pose.position.x = X(IDX::X); pose.position.y = X(IDX::Y); - pose.position.z = 0.0; + // do not change z // set orientation tf2::Quaternion quaternion; diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp index 14d7ce8eb67aa..6a9850c6fa601 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp @@ -329,7 +329,7 @@ bool CTRVMotionModel::getPredictedState( // set position pose.position.x = X(IDX::X); pose.position.y = X(IDX::Y); - pose.position.z = 0.0; + // do not change z // set orientation tf2::Quaternion quaternion; diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp index e208f8b6ad1f9..5137cda71f3a7 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp @@ -241,7 +241,7 @@ bool CVMotionModel::getPredictedState( // set position pose.position.x = X(IDX::X); pose.position.y = X(IDX::Y); - pose.position.z = 0.0; + // do not change z // set twist twist.linear.x = X(IDX::VX) * std::cos(-yaw) - X(IDX::VY) * std::sin(-yaw); diff --git a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp index 5923000c6bfc7..9c27af02a0a23 100644 --- a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp +++ b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp @@ -50,6 +50,9 @@ object_model::StateCovariance covarianceFromObjectClass(const ObjectClassificati case ObjectClassification::PEDESTRIAN: obj_class_model = object_model::pedestrian; break; + case ObjectClassification::UNKNOWN: + obj_class_model = object_model::unknown; + break; default: obj_class_model = object_model::normal_vehicle; break; @@ -70,10 +73,10 @@ types::DynamicObject modelUncertaintyByClass( const auto & r_cov_y = measurement_covariance.pos_y; // yaw angle - const double pose_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const double pose_yaw = tf2::getYaw(object.pose.orientation); // fill position covariance matrix - auto & pose_cov = updating_object.kinematics.pose_with_covariance.covariance; + auto & pose_cov = updating_object.pose_covariance; const double cos_yaw = std::cos(pose_yaw); const double sin_yaw = std::sin(pose_yaw); const double sin_2yaw = std::sin(2.0 * pose_yaw); @@ -95,7 +98,7 @@ types::DynamicObject modelUncertaintyByClass( } // fill twist covariance matrix - auto & twist_cov = updating_object.kinematics.twist_with_covariance.covariance; + auto & twist_cov = updating_object.twist_covariance; twist_cov[XYZRPY_COV_IDX::X_X] = measurement_covariance.vel_long; twist_cov[XYZRPY_COV_IDX::X_Y] = 0.0; twist_cov[XYZRPY_COV_IDX::Y_X] = 0.0; @@ -129,14 +132,14 @@ void normalizeUncertainty(types::DynamicObjectList & detected_objects) for (auto & object : detected_objects.objects) { // normalize position covariance - auto & pose_cov = object.kinematics.pose_with_covariance.covariance; + auto & pose_cov = object.pose_covariance; pose_cov[XYZRPY_COV_IDX::X_X] = std::max(pose_cov[XYZRPY_COV_IDX::X_X], min_cov_dist); pose_cov[XYZRPY_COV_IDX::Y_Y] = std::max(pose_cov[XYZRPY_COV_IDX::Y_Y], min_cov_dist); pose_cov[XYZRPY_COV_IDX::Z_Z] = std::max(pose_cov[XYZRPY_COV_IDX::Z_Z], min_cov_dist); pose_cov[XYZRPY_COV_IDX::YAW_YAW] = std::max(pose_cov[XYZRPY_COV_IDX::YAW_YAW], min_cov_rad); // normalize twist covariance - auto & twist_cov = object.kinematics.twist_with_covariance.covariance; + auto & twist_cov = object.twist_covariance; twist_cov[XYZRPY_COV_IDX::X_X] = std::max(twist_cov[XYZRPY_COV_IDX::X_X], min_cov_vel); twist_cov[XYZRPY_COV_IDX::Y_Y] = std::max(twist_cov[XYZRPY_COV_IDX::Y_Y], min_cov_vel); } @@ -174,8 +177,8 @@ void addOdometryUncertainty(const Odometry & odometry, types::DynamicObjectList const double & cov_yaw_rate = odom_twist_cov[35]; for (auto & object : detected_objects.objects) { - auto & object_pose = object.kinematics.pose_with_covariance.pose; - auto & object_pose_cov = object.kinematics.pose_with_covariance.covariance; + auto & object_pose = object.pose; + auto & object_pose_cov = object.pose_covariance; const double dx = object_pose.position.x - odom_pose.position.x; const double dy = object_pose.position.y - odom_pose.position.y; const double r2 = dx * dx + dy * dy; @@ -211,7 +214,7 @@ void addOdometryUncertainty(const Odometry & odometry, types::DynamicObjectList object_pose_cov[XYZRPY_COV_IDX::Y_Y] = m_pose_cov(1, 1); // 2. add odometry velocity uncertainty to the object velocity covariance - auto & object_twist_cov = object.kinematics.twist_with_covariance.covariance; + auto & object_twist_cov = object.twist_covariance; Eigen::MatrixXd m_twist_cov = Eigen::MatrixXd(2, 2); m_twist_cov << object_twist_cov[XYZRPY_COV_IDX::X_X], object_twist_cov[XYZRPY_COV_IDX::X_Y], object_twist_cov[XYZRPY_COV_IDX::Y_X], object_twist_cov[XYZRPY_COV_IDX::Y_Y]; diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml index 2def899dfd756..b5d92bc6d78a2 100644 --- a/perception/autoware_multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_multi_object_tracker - 0.42.0 + 0.43.0 The ROS 2 autoware_multi_object_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp b/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp index 6a1703e029920..757c862110bb6 100644 --- a/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp +++ b/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp @@ -54,11 +54,10 @@ int32_t uuidToInt(const boost::uuids::uuid & uuid) namespace autoware::multi_object_tracker { -TrackerObjectDebugger::TrackerObjectDebugger(const std::string & frame_id) +TrackerObjectDebugger::TrackerObjectDebugger( + const std::string & frame_id, const std::vector & channels_config) +: frame_id_(frame_id), channels_config_(channels_config) { - // set frame id - frame_id_ = frame_id; - // initialize markers markers_.markers.clear(); current_ids_.clear(); @@ -96,32 +95,30 @@ void TrackerObjectDebugger::collect( types::DynamicObject tracked_object; (*(tracker_itr))->getTrackedObject(message_time, tracked_object); - object_data.uuid = uuidToBoostUuid(tracked_object.object_id); - object_data.uuid_int = uuidToInt(object_data.uuid); - object_data.uuid_str = uuidToString(tracked_object.object_id); - object_data.channel_id = tracked_object.channel_index; + object_data.uuid = uuidToBoostUuid(tracked_object.uuid); + object_data.uuid_str = uuidToString(tracked_object.uuid); // tracker bool is_associated = false; geometry_msgs::msg::Point tracker_point, detection_point; - tracker_point.x = tracked_object.kinematics.pose_with_covariance.pose.position.x; - tracker_point.y = tracked_object.kinematics.pose_with_covariance.pose.position.y; - tracker_point.z = tracked_object.kinematics.pose_with_covariance.pose.position.z; + tracker_point.x = tracked_object.pose.position.x; + tracker_point.y = tracked_object.pose.position.y; + tracker_point.z = tracked_object.pose.position.z; // detection if (direct_assignment.find(tracker_idx) != direct_assignment.end()) { const auto & associated_object = detected_objects.objects.at(direct_assignment.find(tracker_idx)->second); - detection_point.x = associated_object.kinematics.pose_with_covariance.pose.position.x; - detection_point.y = associated_object.kinematics.pose_with_covariance.pose.position.y; - detection_point.z = associated_object.kinematics.pose_with_covariance.pose.position.z; + detection_point.x = associated_object.pose.position.x; + detection_point.y = associated_object.pose.position.y; + detection_point.z = associated_object.pose.position.z; is_associated = true; } else { detection_point.x = tracker_point.x; detection_point.y = tracker_point.y; detection_point.z = tracker_point.z; } - + object_data.channel_id = detected_objects.channel_index; object_data.tracker_point = tracker_point; object_data.detection_point = detection_point; object_data.is_associated = is_associated; @@ -143,8 +140,8 @@ void TrackerObjectDebugger::process() if (object_data_list_.empty()) return; // update uuid_int - for (auto & object_data : object_data_list_) { - current_ids_.insert(object_data.uuid_int); + for (const auto & object_data : object_data_list_) { + current_ids_.insert(uuidToInt(object_data.uuid)); } // sort by uuid, collect the same uuid object_data as a group, and loop for the groups @@ -156,7 +153,7 @@ void TrackerObjectDebugger::process() [](const ObjectData & a, const ObjectData & b) { return a.uuid < b.uuid; }); // collect the same uuid object_data as a group - std::vector object_data_group; + std::vector object_data_group{}; boost::uuids::uuid previous_uuid = object_data_list_.front().uuid; for (const auto & object_data : object_data_list_) { // if the uuid is different, push the group and clear the group @@ -210,7 +207,7 @@ void TrackerObjectDebugger::draw( visualization_msgs::msg::Marker marker; marker.header.frame_id = frame_id_; marker.header.stamp = object_data_front.time; - marker.id = object_data_front.uuid_int; + marker.id = uuidToInt(object_data_front.uuid); marker.pose.position.x = 0; marker.pose.position.y = 0; marker.pose.position.z = 0; @@ -236,10 +233,12 @@ void TrackerObjectDebugger::draw( // print existence probability with channel name // probability to text, two digits of percentage std::string existence_probability_text = ""; - for (size_t i = 0; i < object_data_front.existence_vector.size(); ++i) { + const size_t channel_size = channels_config_.size(); + for (size_t i = 0; i < channel_size; ++i) { + if (object_data_front.existence_vector[i] < 0.00101) continue; std::stringstream stream; stream << std::fixed << std::setprecision(0) << object_data_front.existence_vector[i] * 100; - existence_probability_text += channel_names_[i] + stream.str() + ":"; + existence_probability_text += channels_config_[i].short_name + stream.str() + ":"; } if (!existence_probability_text.empty()) { existence_probability_text.pop_back(); @@ -247,7 +246,6 @@ void TrackerObjectDebugger::draw( existence_probability_text += "\n" + object_data_front.uuid_str.substr(0, 6); text_marker.text = existence_probability_text; - marker_array.markers.push_back(text_marker); // loop for each object_data in the group // boxed to tracker positions @@ -263,22 +261,26 @@ void TrackerObjectDebugger::draw( marker_track_boxes.scale.x = 0.4; marker_track_boxes.scale.y = 0.4; marker_track_boxes.scale.z = 0.4; + marker_track_boxes.color.a = 0.9; + marker_track_boxes.color.r = 1.0; + marker_track_boxes.color.g = 1.0; + marker_track_boxes.color.b = 1.0; // make detected object markers per channel std::vector marker_detect_boxes_per_channel; std::vector marker_detect_lines_per_channel; - for (size_t idx = 0; idx < channel_names_.size(); idx++) { + for (size_t idx = 0; idx < channels_config_.size(); idx++) { // get color - by channel index std_msgs::msg::ColorRGBA color; - color.a = 1.0; + color.a = 0.9; color.r = color_array[idx % PALETTE_SIZE][0]; color.g = color_array[idx % PALETTE_SIZE][1]; color.b = color_array[idx % PALETTE_SIZE][2]; visualization_msgs::msg::Marker marker_detect_boxes; marker_detect_boxes = marker; - marker_detect_boxes.ns = "detect_boxes_" + channel_names_[idx]; + marker_detect_boxes.ns = "detect_boxes_" + channels_config_[idx].short_name; marker_detect_boxes.type = visualization_msgs::msg::Marker::CUBE_LIST; marker_detect_boxes.action = visualization_msgs::msg::Marker::ADD; marker_detect_boxes.scale.x = 0.2; @@ -289,7 +291,7 @@ void TrackerObjectDebugger::draw( visualization_msgs::msg::Marker marker_lines; marker_lines = marker; - marker_lines.ns = "association_lines_" + channel_names_[idx]; + marker_lines.ns = "association_lines_" + channels_config_[idx].short_name; marker_lines.type = visualization_msgs::msg::Marker::LINE_LIST; marker_lines.action = visualization_msgs::msg::Marker::ADD; marker_lines.scale.x = 0.15; @@ -298,8 +300,7 @@ void TrackerObjectDebugger::draw( marker_detect_lines_per_channel.push_back(marker_lines); } - bool is_any_associated = false; - + bool is_associated = false; for (const auto & object_data : object_data_group) { int channel_id = object_data.channel_id; @@ -312,7 +313,7 @@ void TrackerObjectDebugger::draw( // set association marker, if exists if (!object_data.is_associated) continue; - is_any_associated = true; + is_associated = true; // associated object box visualization_msgs::msg::Marker & marker_detect_boxes = @@ -337,26 +338,32 @@ void TrackerObjectDebugger::draw( } // add markers - marker_array.markers.push_back(marker_track_boxes); - if (is_any_associated) { - for (size_t i = 0; i < channel_names_.size(); i++) { - if (marker_detect_boxes_per_channel.at(i).points.empty()) continue; - marker_array.markers.push_back(marker_detect_boxes_per_channel.at(i)); - } - for (size_t i = 0; i < channel_names_.size(); i++) { - if (marker_detect_lines_per_channel.at(i).points.empty()) continue; - marker_array.markers.push_back(marker_detect_lines_per_channel.at(i)); - } - } else { - for (size_t i = 0; i < channel_names_.size(); i++) { + for (size_t i = 0; i < channels_config_.size(); i++) { + if (marker_detect_boxes_per_channel.at(i).points.empty()) { marker_detect_boxes_per_channel.at(i).action = visualization_msgs::msg::Marker::DELETE; - marker_array.markers.push_back(marker_detect_boxes_per_channel.at(i)); } - for (size_t i = 0; i < channel_names_.size(); i++) { + marker_array.markers.push_back(marker_detect_boxes_per_channel.at(i)); + } + for (size_t i = 0; i < channels_config_.size(); i++) { + if (marker_detect_lines_per_channel.at(i).points.empty()) { marker_detect_lines_per_channel.at(i).action = visualization_msgs::msg::Marker::DELETE; - marker_array.markers.push_back(marker_detect_lines_per_channel.at(i)); } + marker_array.markers.push_back(marker_detect_lines_per_channel.at(i)); } + + // if not associated, gray out the track box and text + if (!is_associated) { + marker_track_boxes.color.r = 0.5; + marker_track_boxes.color.g = 0.5; + marker_track_boxes.color.b = 0.5; + marker_track_boxes.color.a = 0.5; + text_marker.color.r = 0.5; + text_marker.color.g = 0.5; + text_marker.color.b = 0.5; + text_marker.color.a = 0.5; + } + marker_array.markers.push_back(text_marker); + marker_array.markers.push_back(marker_track_boxes); } return; @@ -378,18 +385,19 @@ void TrackerObjectDebugger::getMessage(visualization_msgs::msg::MarkerArray & ma visualization_msgs::msg::Marker delete_marker; delete_marker.header.frame_id = frame_id_; delete_marker.header.stamp = message_time_; - delete_marker.ns = "existence_probability"; delete_marker.id = previous_id; delete_marker.action = visualization_msgs::msg::Marker::DELETE; + + delete_marker.ns = "existence_probability"; marker_array.markers.push_back(delete_marker); delete_marker.ns = "track_boxes"; marker_array.markers.push_back(delete_marker); - for (size_t idx = 0; idx < channel_names_.size(); idx++) { - delete_marker.ns = "detect_boxes_" + channel_names_[idx]; + for (size_t idx = 0; idx < channels_config_.size(); idx++) { + delete_marker.ns = "detect_boxes_" + channels_config_[idx].short_name; marker_array.markers.push_back(delete_marker); - delete_marker.ns = "association_lines_" + channel_names_[idx]; + delete_marker.ns = "association_lines_" + channels_config_[idx].short_name; marker_array.markers.push_back(delete_marker); } } diff --git a/perception/autoware_multi_object_tracker/src/debugger/debug_object.hpp b/perception/autoware_multi_object_tracker/src/debugger/debug_object.hpp index fb4e9d2ded898..ec8edbee0fc8f 100644 --- a/perception/autoware_multi_object_tracker/src/debugger/debug_object.hpp +++ b/perception/autoware_multi_object_tracker/src/debugger/debug_object.hpp @@ -15,13 +15,14 @@ #ifndef DEBUGGER__DEBUG_OBJECT_HPP_ #define DEBUGGER__DEBUG_OBJECT_HPP_ +#include "autoware/multi_object_tracker/object_model/types.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" -#include "autoware_utils/ros/uuid_helper.hpp" +#include #include -#include "autoware_perception_msgs/msg/detected_objects.hpp" -#include "autoware_perception_msgs/msg/tracked_objects.hpp" +#include +#include #include #include #include @@ -46,7 +47,6 @@ struct ObjectData // object uuid boost::uuids::uuid uuid; - int uuid_int; std::string uuid_str; // association link, pair of coordinates @@ -65,27 +65,24 @@ struct ObjectData class TrackerObjectDebugger { public: - explicit TrackerObjectDebugger(const std::string & frame_id); + TrackerObjectDebugger( + const std::string & frame_id, const std::vector & channels_config); private: bool is_initialized_{false}; std::string frame_id_; + const std::vector channels_config_; + visualization_msgs::msg::MarkerArray markers_; - std::unordered_set current_ids_; - std::unordered_set previous_ids_; + std::unordered_set current_ids_{}; + std::unordered_set previous_ids_{}; rclcpp::Time message_time_; std::vector object_data_list_; std::list unused_marker_ids_; std::vector> object_data_groups_; - std::vector channel_names_; - public: - void setChannelNames(const std::vector & channel_names) - { - channel_names_ = channel_names; - } void collect( const rclcpp::Time & message_time, const std::list> & list_tracker, const types::DynamicObjectList & detected_objects, diff --git a/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp b/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp index 4c1b330c0fa5c..368970dc22781 100644 --- a/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp +++ b/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp @@ -18,11 +18,14 @@ #include #include #include +#include namespace autoware::multi_object_tracker { -TrackerDebugger::TrackerDebugger(rclcpp::Node & node, const std::string & frame_id) -: node_(node), diagnostic_updater_(&node), object_debugger_(frame_id) +TrackerDebugger::TrackerDebugger( + rclcpp::Node & node, const std::string & frame_id, + const std::vector & channels_config) +: node_(node), diagnostic_updater_(&node), object_debugger_(frame_id, channels_config) { // declare debug parameters to decide whether to publish debug topics loadParameters(); @@ -200,6 +203,7 @@ void TrackerDebugger::publishObjectsMarkers() if (!debug_settings_.publish_debug_markers) return; visualization_msgs::msg::MarkerArray marker_message; + marker_message.markers.clear(); // process data object_debugger_.process(); diff --git a/perception/autoware_multi_object_tracker/src/debugger/debugger.hpp b/perception/autoware_multi_object_tracker/src/debugger/debugger.hpp index 4b85b6bcb9c87..58505a147490f 100644 --- a/perception/autoware_multi_object_tracker/src/debugger/debugger.hpp +++ b/perception/autoware_multi_object_tracker/src/debugger/debugger.hpp @@ -15,16 +15,17 @@ #ifndef DEBUGGER__DEBUGGER_HPP_ #define DEBUGGER__DEBUGGER_HPP_ -#include "autoware_utils/ros/debug_publisher.hpp" -#include "autoware_utils/ros/published_time_publisher.hpp" +#include "autoware/multi_object_tracker/object_model/types.hpp" #include "debug_object.hpp" +#include +#include #include #include #include -#include "autoware_perception_msgs/msg/detected_objects.hpp" -#include "autoware_perception_msgs/msg/tracked_objects.hpp" +#include +#include #include #include @@ -43,7 +44,9 @@ namespace autoware::multi_object_tracker class TrackerDebugger { public: - explicit TrackerDebugger(rclcpp::Node & node, const std::string & frame_id); + TrackerDebugger( + rclcpp::Node & node, const std::string & frame_id, + const std::vector & channels_config); private: struct DEBUG_SETTINGS @@ -95,10 +98,6 @@ class TrackerDebugger void checkDelay(diagnostic_updater::DiagnosticStatusWrapper & stat); // Debug object - void setObjectChannels(const std::vector & channels) - { - object_debugger_.setChannelNames(channels); - } void collectObjectInfo( const rclcpp::Time & message_time, const std::list> & list_tracker, const types::DynamicObjectList & detected_objects, diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp index 2dab26e67b5a2..bf2c2de9b57e3 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp @@ -17,6 +17,7 @@ #include "multi_object_tracker_node.hpp" #include "autoware/multi_object_tracker/object_model/shapes.hpp" +#include "autoware/multi_object_tracker/object_model/types.hpp" #include "autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp" #include @@ -71,53 +72,45 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) odometry_ = std::make_shared(*this, world_frame_id_, enable_odometry_uncertainty); // ROS interface - Input channels - // Get input channels - std::vector input_topic_names; - std::vector input_names_long; - std::vector input_names_short; - std::vector input_is_spawn_enabled; - + // Get input channels configuration if (selected_input_channels.empty()) { RCLCPP_ERROR(this->get_logger(), "No input topics are specified."); return; } + uint channel_index = 0; for (const auto & selected_input_channel : selected_input_channels) { + types::InputChannel input_channel_config; + input_channel_config.index = channel_index; + channel_index++; + // required parameters, no default value const std::string input_topic_name = declare_parameter("input_channels." + selected_input_channel + ".topic"); - input_topic_names.push_back(input_topic_name); + input_channel_config.input_topic = input_topic_name; // required parameter, but can set a default value - const bool spawn_enabled = declare_parameter( + input_channel_config.is_spawn_enabled = declare_parameter( "input_channels." + selected_input_channel + ".can_spawn_new_tracker", true); - input_is_spawn_enabled.push_back(spawn_enabled); // optional parameters const std::string default_name = selected_input_channel; const std::string name_long = declare_parameter( "input_channels." + selected_input_channel + ".optional.name", default_name); - input_names_long.push_back(name_long); + input_channel_config.long_name = name_long; const std::string default_name_short = selected_input_channel.substr(0, 3); const std::string name_short = declare_parameter( "input_channels." + selected_input_channel + ".optional.short_name", default_name_short); - input_names_short.push_back(name_short); - } - - input_channel_size_ = input_topic_names.size(); - input_channels_.resize(input_channel_size_); + input_channel_config.short_name = name_short; - for (size_t i = 0; i < input_channel_size_; i++) { - input_channels_[i].input_topic = input_topic_names[i]; - input_channels_[i].long_name = input_names_long[i]; - input_channels_[i].short_name = input_names_short[i]; - input_channels_[i].is_spawn_enabled = input_is_spawn_enabled[i]; + input_channels_config_.push_back(input_channel_config); } + input_channel_size_ = input_channels_config_.size(); // Initialize input manager input_manager_ = std::make_unique(*this, odometry_); - input_manager_->init(input_channels_); // Initialize input manager, set subscriptions + input_manager_->init(input_channels_config_); // Initialize input manager, set subscriptions input_manager_->setTriggerFunction( std::bind(&MultiObjectTracker::onTrigger, this)); // Set trigger function @@ -135,64 +128,68 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) // Initialize processor { TrackerProcessorConfig config; - config.tracker_map.insert( - std::make_pair(Label::CAR, this->declare_parameter("car_tracker"))); - config.tracker_map.insert( - std::make_pair(Label::TRUCK, this->declare_parameter("truck_tracker"))); - config.tracker_map.insert( - std::make_pair(Label::BUS, this->declare_parameter("bus_tracker"))); - config.tracker_map.insert( - std::make_pair(Label::TRAILER, this->declare_parameter("trailer_tracker"))); - config.tracker_map.insert(std::make_pair( - Label::PEDESTRIAN, this->declare_parameter("pedestrian_tracker"))); - config.tracker_map.insert( - std::make_pair(Label::BICYCLE, this->declare_parameter("bicycle_tracker"))); - config.tracker_map.insert(std::make_pair( - Label::MOTORCYCLE, this->declare_parameter("motorcycle_tracker"))); - config.channel_size = input_channel_size_; - - // Declare parameters - config.tracker_lifetime = declare_parameter("tracker_lifetime"); - config.min_known_object_removal_iou = declare_parameter("min_known_object_removal_iou"); - config.min_unknown_object_removal_iou = - declare_parameter("min_unknown_object_removal_iou"); - config.distance_threshold = declare_parameter("distance_threshold"); - - // Map from class name to label - std::map class_name_to_label = { - {"UNKNOWN", Label::UNKNOWN}, {"CAR", Label::CAR}, - {"TRUCK", Label::TRUCK}, {"BUS", Label::BUS}, - {"TRAILER", Label::TRAILER}, {"MOTORBIKE", Label::MOTORCYCLE}, - {"BICYCLE", Label::BICYCLE}, {"PEDESTRIAN", Label::PEDESTRIAN}}; - - // Declare parameters and initialize confident_count_threshold_map - for (const auto & [class_name, class_label] : class_name_to_label) { - int64_t value = declare_parameter("confident_count_threshold." + class_name); - config.confident_count_threshold[class_label] = static_cast(value); + { + config.tracker_map.insert( + std::make_pair(Label::CAR, this->declare_parameter("car_tracker"))); + config.tracker_map.insert( + std::make_pair(Label::TRUCK, this->declare_parameter("truck_tracker"))); + config.tracker_map.insert( + std::make_pair(Label::BUS, this->declare_parameter("bus_tracker"))); + config.tracker_map.insert( + std::make_pair(Label::TRAILER, this->declare_parameter("trailer_tracker"))); + config.tracker_map.insert(std::make_pair( + Label::PEDESTRIAN, this->declare_parameter("pedestrian_tracker"))); + config.tracker_map.insert( + std::make_pair(Label::BICYCLE, this->declare_parameter("bicycle_tracker"))); + config.tracker_map.insert(std::make_pair( + Label::MOTORCYCLE, this->declare_parameter("motorcycle_tracker"))); + + // Declare parameters + config.tracker_lifetime = declare_parameter("tracker_lifetime"); + config.min_known_object_removal_iou = + declare_parameter("min_known_object_removal_iou"); + config.min_unknown_object_removal_iou = + declare_parameter("min_unknown_object_removal_iou"); + config.distance_threshold = declare_parameter("distance_threshold"); + + // Map from class name to label + std::map class_name_to_label = { + {"UNKNOWN", Label::UNKNOWN}, {"CAR", Label::CAR}, + {"TRUCK", Label::TRUCK}, {"BUS", Label::BUS}, + {"TRAILER", Label::TRAILER}, {"MOTORBIKE", Label::MOTORCYCLE}, + {"BICYCLE", Label::BICYCLE}, {"PEDESTRIAN", Label::PEDESTRIAN}}; + + // Declare parameters and initialize confident_count_threshold_map + for (const auto & [class_name, class_label] : class_name_to_label) { + int64_t value = declare_parameter("confident_count_threshold." + class_name); + config.confident_count_threshold[class_label] = static_cast(value); + } } - // Initialize processor with parameters - processor_ = std::make_unique(config); - } + AssociatorConfig associator_config; + { + const auto tmp = this->declare_parameter>("can_assign_matrix"); + const std::vector can_assign_matrix(tmp.begin(), tmp.end()); + associator_config.can_assign_matrix = can_assign_matrix; + associator_config.max_dist_matrix = + this->declare_parameter>("max_dist_matrix"); + associator_config.max_area_matrix = + this->declare_parameter>("max_area_matrix"); + associator_config.min_area_matrix = + this->declare_parameter>("min_area_matrix"); + associator_config.max_rad_matrix = + this->declare_parameter>("max_rad_matrix"); + associator_config.min_iou_matrix = + this->declare_parameter>("min_iou_matrix"); + } - // Data association initialization - { - const auto tmp = this->declare_parameter>("can_assign_matrix"); - const std::vector can_assign_matrix(tmp.begin(), tmp.end()); - const auto max_dist_matrix = this->declare_parameter>("max_dist_matrix"); - const auto max_area_matrix = this->declare_parameter>("max_area_matrix"); - const auto min_area_matrix = this->declare_parameter>("min_area_matrix"); - const auto max_rad_matrix = this->declare_parameter>("max_rad_matrix"); - const auto min_iou_matrix = this->declare_parameter>("min_iou_matrix"); - - association_ = std::make_unique( - can_assign_matrix, max_dist_matrix, max_area_matrix, min_area_matrix, max_rad_matrix, - min_iou_matrix); + // Initialize processor with parameters + processor_ = + std::make_unique(config, associator_config, input_channels_config_); } // Debugger - debugger_ = std::make_unique(*this, world_frame_id_); - debugger_->setObjectChannels(input_names_short); + debugger_ = std::make_unique(*this, world_frame_id_, input_channels_config_); published_time_publisher_ = std::make_unique(this); } @@ -251,40 +248,26 @@ void MultiObjectTracker::runProcess(const types::DynamicObjectList & detected_ob const rclcpp::Time measurement_time = rclcpp::Time(detected_objects.header.stamp, this->now().get_clock_type()); - // Get the self transform - const auto self_transform = odometry_->getTransform(measurement_time); - if (!self_transform) { - return; - } - - /* prediction */ + /* predict trackers to the measurement time */ processor_->predict(measurement_time); /* object association */ std::unordered_map direct_assignment, reverse_assignment; - { - const auto & list_tracker = processor_->getListTracker(); - // global nearest neighbor - Eigen::MatrixXd score_matrix = association_->calcScoreMatrix( - detected_objects, list_tracker); // row : tracker, col : measurement - association_->assign(score_matrix, direct_assignment, reverse_assignment); - - // Collect debug information - tracker list, existence probabilities, association results - debugger_->collectObjectInfo( - measurement_time, processor_->getListTracker(), detected_objects, direct_assignment, - reverse_assignment); - } + processor_->associate(detected_objects, direct_assignment, reverse_assignment); + + // Collect debug information - tracker list, existence probabilities, association results + debugger_->collectObjectInfo( + measurement_time, processor_->getListTracker(), detected_objects, direct_assignment, + reverse_assignment); /* tracker update */ - processor_->update(detected_objects, *self_transform, direct_assignment); + processor_->update(detected_objects, direct_assignment); /* tracker pruning */ processor_->prune(measurement_time); /* spawn new tracker */ - if (input_manager_->isChannelSpawnEnabled(detected_objects.channel_index)) { - processor_->spawn(detected_objects, reverse_assignment); - } + processor_->spawn(detected_objects, reverse_assignment); } void MultiObjectTracker::checkAndPublish(const rclcpp::Time & time) diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp index c967f8403a918..2099fce3b8395 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp @@ -19,7 +19,6 @@ #ifndef MULTI_OBJECT_TRACKER_NODE_HPP_ #define MULTI_OBJECT_TRACKER_NODE_HPP_ -#include "autoware/multi_object_tracker/association/association.hpp" #include "autoware/multi_object_tracker/object_model/types.hpp" #include "autoware/multi_object_tracker/odometry.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" @@ -65,8 +64,6 @@ class MultiObjectTracker : public rclcpp::Node private: // ROS interface rclcpp::Publisher::SharedPtr tracked_objects_pub_; - rclcpp::Subscription::SharedPtr - detected_object_sub_; // debugger std::unique_ptr debugger_; @@ -82,15 +79,14 @@ class MultiObjectTracker : public rclcpp::Node // internal states std::string world_frame_id_; // tracking frame - std::unique_ptr association_; std::unique_ptr processor_; // input manager std::unique_ptr input_manager_; std::shared_ptr odometry_; - std::vector input_channels_{}; size_t input_channel_size_{}; + std::vector input_channels_config_; // callback functions void onTimer(); diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp index 1e0a340b19d55..1544267bdd298 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp @@ -14,9 +14,12 @@ #include "input_manager.hpp" +#include "autoware/multi_object_tracker/object_model/shapes.hpp" #include "autoware/multi_object_tracker/object_model/types.hpp" #include "autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp" +#include + #include #include #include @@ -27,19 +30,11 @@ namespace autoware::multi_object_tracker /////////////////////////// /////// InputStream /////// /////////////////////////// -InputStream::InputStream(rclcpp::Node & node, uint & index, std::shared_ptr odometry) -: node_(node), index_(index), odometry_(odometry) -{ -} - -void InputStream::init(const InputChannel & input_channel) +InputStream::InputStream( + rclcpp::Node & node, const types::InputChannel & input_channel, + std::shared_ptr odometry) +: node_(node), channel_(input_channel), odometry_(odometry) { - // Initialize parameters - input_topic_ = input_channel.input_topic; - long_name_ = input_channel.long_name; - short_name_ = input_channel.short_name; - is_spawn_enabled_ = input_channel.is_spawn_enabled; - // Initialize queue objects_que_.clear(); @@ -57,8 +52,9 @@ void InputStream::onMessage( const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr msg) { const autoware_perception_msgs::msg::DetectedObjects & objects = *msg; + const rclcpp::Time timestamp = objects.header.stamp; - types::DynamicObjectList dynamic_objects = types::toDynamicObjectList(objects, index_); + types::DynamicObjectList dynamic_objects = types::toDynamicObjectList(objects, channel_.index); // Model the object uncertainty only if it is not available types::DynamicObjectList objects_with_uncertainty = @@ -69,11 +65,46 @@ void InputStream::onMessage( if (!transformed_objects) { RCLCPP_WARN( node_.get_logger(), "InputManager::onMessage %s: Failed to transform objects.", - long_name_.c_str()); + channel_.long_name.c_str()); return; } dynamic_objects = transformed_objects.value(); + // object shape processing + for (auto & object : dynamic_objects.objects) { + const auto label = + autoware::object_recognition_utils::getHighestProbLabel(object.classification); + if (label == autoware_perception_msgs::msg::ObjectClassification::UNKNOWN) { + continue; + } + + // check object shape type, bounding box, cylinder, polygon + const auto object_type = object.shape.type; + if (object_type == autoware_perception_msgs::msg::Shape::POLYGON) { + // convert convex hull to bounding box + if (!shapes::convertConvexHullToBoundingBox(object, object)) { + RCLCPP_WARN( + node_.get_logger(), + "InputManager::onMessage %s: Failed to convert convex hull to bounding box.", + channel_.long_name.c_str()); + continue; + } + } else if (object_type == autoware_perception_msgs::msg::Shape::CYLINDER) { + // convert cylinder dimension to bounding box dimension + object.shape.dimensions.y = object.shape.dimensions.x; + } + // else, it is bounding box and nothing to do + + // calculate nearest point + const auto self_transform = odometry_->getTransform(timestamp); + if (!self_transform) { + return; + } + shapes::getNearestCornerOrSurface(*self_transform, object); + + // if object extension is not reliable, enlarge covariance of position and extend shape + } + // Normalize the object uncertainty uncertainty::normalizeUncertainty(dynamic_objects); @@ -90,7 +121,7 @@ void InputStream::onMessage( // trigger the function if it is set if (func_trigger_) { - func_trigger_(index_); + func_trigger_(channel_.index); } } @@ -124,7 +155,7 @@ void InputStream::updateTimingStatus(const rclcpp::Time & now, const rclcpp::Tim node_.get_logger(), "InputManager::updateTimingStatus %s: Negative interval detected, now: %f, " "latest_message_time_: %f", - long_name_.c_str(), now.seconds(), latest_message_time_.seconds()); + channel_.long_name.c_str(), now.seconds(), latest_message_time_.seconds()); } else if (initial_count_ < INITIALIZATION_COUNT) { // Initialization constexpr double initial_gain = 0.5; @@ -151,7 +182,7 @@ void InputStream::updateTimingStatus(const rclcpp::Time & now, const rclcpp::Tim RCLCPP_WARN( node_.get_logger(), "InputManager::updateTimingStatus %s: Resetting the latest measurement time to %f", - long_name_.c_str(), objects_time.seconds()); + channel_.long_name.c_str(), objects_time.seconds()); } else { // Update only if the object time is newer than the latest measurement time latest_measurement_time_ = @@ -173,7 +204,7 @@ void InputStream::getObjectsOlderThan( node_.get_logger(), "InputManager::getObjectsOlderThan %s: Invalid object time interval, object_latest_time: %f, " "object_earliest_time: %f", - long_name_.c_str(), object_latest_time.seconds(), object_earliest_time.seconds()); + channel_.long_name.c_str(), object_latest_time.seconds(), object_earliest_time.seconds()); return; } @@ -210,7 +241,7 @@ InputManager::InputManager(rclcpp::Node & node, std::shared_ptr odomet latest_exported_object_time_ = node_.now() - rclcpp::Duration::from_seconds(3.0); } -void InputManager::init(const std::vector & input_channels) +void InputManager::init(const std::vector & input_channels) { // Check input sizes input_size_ = input_channels.size(); @@ -223,9 +254,7 @@ void InputManager::init(const std::vector & input_channels) sub_objects_array_.resize(input_size_); bool is_any_spawn_enabled = false; for (size_t i = 0; i < input_size_; i++) { - uint index(i); - InputStream input_stream(node_, index, odometry_); - input_stream.init(input_channels[i]); + InputStream input_stream(node_, input_channels[i], odometry_); input_stream.setTriggerFunction( std::bind(&InputManager::onTrigger, this, std::placeholders::_1)); input_streams_.push_back(std::make_shared(input_stream)); diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp index da715c39bb710..db69c646f7c11 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp @@ -32,20 +32,12 @@ namespace autoware::multi_object_tracker { using ObjectsList = std::vector; -struct InputChannel -{ - std::string input_topic; // topic name of the detection, e.g. "/detection/lidar" - std::string long_name = "Detected Object"; // full name of the detection - std::string short_name = "DET"; // abbreviation of the name - bool is_spawn_enabled = true; // enable spawn of the object -}; - class InputStream { public: - explicit InputStream(rclcpp::Node & node, uint & index, std::shared_ptr odometry); - - void init(const InputChannel & input_channel); + InputStream( + rclcpp::Node & node, const types::InputChannel & input_channel, + std::shared_ptr odometry); void setTriggerFunction(std::function func_trigger) { @@ -56,11 +48,11 @@ class InputStream void updateTimingStatus(const rclcpp::Time & now, const rclcpp::Time & objects_time); bool isTimeInitialized() const { return initial_count_ > 0; } - uint getIndex() const { return index_; } + uint getIndex() const { return channel_.index; } void getObjectsOlderThan( const rclcpp::Time & object_latest_time, const rclcpp::Time & object_earliest_time, ObjectsList & objects_list); - bool isSpawnEnabled() const { return is_spawn_enabled_; } + bool isSpawnEnabled() const { return channel_.is_spawn_enabled; } void getTimeStatistics( double & latency_mean, double & latency_var, double & interval_mean, @@ -75,14 +67,9 @@ class InputStream private: rclcpp::Node & node_; - uint index_; + const types::InputChannel channel_; std::shared_ptr odometry_; - std::string input_topic_; - std::string long_name_; - std::string short_name_; - bool is_spawn_enabled_{}; - size_t que_size_{30}; std::deque objects_que_; @@ -102,7 +89,7 @@ class InputManager { public: InputManager(rclcpp::Node & node, std::shared_ptr odometry); - void init(const std::vector & input_channels); + void init(const std::vector & input_channels); void setTriggerFunction(std::function func_trigger) { func_trigger_ = func_trigger; } void onTrigger(const uint & index) const; diff --git a/perception/autoware_multi_object_tracker/src/processor/processor.cpp b/perception/autoware_multi_object_tracker/src/processor/processor.cpp index 02ad0767dc815..bbe09baff150c 100644 --- a/perception/autoware_multi_object_tracker/src/processor/processor.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/processor.cpp @@ -28,6 +28,7 @@ #include #include #include +#include namespace autoware::multi_object_tracker { @@ -35,8 +36,12 @@ namespace autoware::multi_object_tracker using Label = autoware_perception_msgs::msg::ObjectClassification; using LabelType = autoware_perception_msgs::msg::ObjectClassification::_label_type; -TrackerProcessor::TrackerProcessor(const TrackerProcessorConfig & config) : config_(config) +TrackerProcessor::TrackerProcessor( + const TrackerProcessorConfig & config, const AssociatorConfig & associator_config, + const std::vector & channels_config) +: config_(config), channels_config_(channels_config) { + association_ = std::make_unique(associator_config); } void TrackerProcessor::predict(const rclcpp::Time & time) @@ -46,20 +51,35 @@ void TrackerProcessor::predict(const rclcpp::Time & time) } } +void TrackerProcessor::associate( + const types::DynamicObjectList & detected_objects, + std::unordered_map & direct_assignment, + std::unordered_map & reverse_assignment) const +{ + const auto & tracker_list = list_tracker_; + // global nearest neighbor + Eigen::MatrixXd score_matrix = association_->calcScoreMatrix( + detected_objects, tracker_list); // row : tracker, col : measurement + association_->assign(score_matrix, direct_assignment, reverse_assignment); +} + void TrackerProcessor::update( const types::DynamicObjectList & detected_objects, - const geometry_msgs::msg::Transform & self_transform, const std::unordered_map & direct_assignment) { int tracker_idx = 0; const auto & time = detected_objects.header.stamp; for (auto tracker_itr = list_tracker_.begin(); tracker_itr != list_tracker_.end(); ++tracker_itr, ++tracker_idx) { - if (direct_assignment.find(tracker_idx) != direct_assignment.end()) { // found + if (direct_assignment.find(tracker_idx) != direct_assignment.end()) { + // found const auto & associated_object = detected_objects.objects.at(direct_assignment.find(tracker_idx)->second); - (*(tracker_itr))->updateWithMeasurement(associated_object, time, self_transform); - } else { // not found + const types::InputChannel channel_info = channels_config_[associated_object.channel_index]; + (*(tracker_itr))->updateWithMeasurement(associated_object, time, channel_info); + + } else { + // not found (*(tracker_itr))->updateWithoutMeasurement(time); } } @@ -69,6 +89,13 @@ void TrackerProcessor::spawn( const types::DynamicObjectList & detected_objects, const std::unordered_map & reverse_assignment) { + const auto channel_config = channels_config_[detected_objects.channel_index]; + // If spawn is disabled, return + if (!channel_config.is_spawn_enabled) { + return; + } + + // Spawn new trackers for the objects that are not associated const auto & time = detected_objects.header.stamp; for (size_t i = 0; i < detected_objects.objects.size(); ++i) { if (reverse_assignment.find(i) != reverse_assignment.end()) { // found @@ -76,7 +103,13 @@ void TrackerProcessor::spawn( } const auto & new_object = detected_objects.objects.at(i); std::shared_ptr tracker = createNewTracker(new_object, time); - if (tracker) list_tracker_.push_back(tracker); + + // Initialize existence probabilities + tracker->initializeExistenceProbabilities( + new_object.channel_index, new_object.existence_probability); + + // Update the tracker with the new object + list_tracker_.push_back(tracker); } } @@ -87,24 +120,20 @@ std::shared_ptr TrackerProcessor::createNewTracker( autoware::object_recognition_utils::getHighestProbLabel(object.classification); if (config_.tracker_map.count(label) != 0) { const auto tracker = config_.tracker_map.at(label); - if (tracker == "bicycle_tracker") - return std::make_shared(time, object, config_.channel_size); + if (tracker == "bicycle_tracker") return std::make_shared(time, object); if (tracker == "big_vehicle_tracker") - return std::make_shared( - object_model::big_vehicle, time, object, config_.channel_size); + return std::make_shared(object_model::big_vehicle, time, object); if (tracker == "multi_vehicle_tracker") - return std::make_shared(time, object, config_.channel_size); + return std::make_shared(time, object); if (tracker == "normal_vehicle_tracker") - return std::make_shared( - object_model::normal_vehicle, time, object, config_.channel_size); + return std::make_shared(object_model::normal_vehicle, time, object); if (tracker == "pass_through_tracker") - return std::make_shared(time, object, config_.channel_size); + return std::make_shared(time, object); if (tracker == "pedestrian_and_bicycle_tracker") - return std::make_shared(time, object, config_.channel_size); - if (tracker == "pedestrian_tracker") - return std::make_shared(time, object, config_.channel_size); + return std::make_shared(time, object); + if (tracker == "pedestrian_tracker") return std::make_shared(time, object); } - return std::make_shared(time, object, config_.channel_size); + return std::make_shared(time, object); } void TrackerProcessor::prune(const rclcpp::Time & time) @@ -144,10 +173,8 @@ void TrackerProcessor::removeOverlappedTracker(const rclcpp::Time & time) // Calculate the distance between the two objects const double distance = std::hypot( - object1.kinematics.pose_with_covariance.pose.position.x - - object2.kinematics.pose_with_covariance.pose.position.x, - object1.kinematics.pose_with_covariance.pose.position.y - - object2.kinematics.pose_with_covariance.pose.position.y); + object1.pose.position.x - object2.pose.position.x, + object1.pose.position.y - object2.pose.position.y); // If the distance is too large, skip if (distance > config_.distance_threshold) { diff --git a/perception/autoware_multi_object_tracker/src/processor/processor.hpp b/perception/autoware_multi_object_tracker/src/processor/processor.hpp index ad296b1c07d8d..9a86240487e9d 100644 --- a/perception/autoware_multi_object_tracker/src/processor/processor.hpp +++ b/perception/autoware_multi_object_tracker/src/processor/processor.hpp @@ -15,6 +15,7 @@ #ifndef PROCESSOR__PROCESSOR_HPP_ #define PROCESSOR__PROCESSOR_HPP_ +#include "autoware/multi_object_tracker/association/association.hpp" #include "autoware/multi_object_tracker/object_model/types.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" @@ -37,7 +38,6 @@ using LabelType = autoware_perception_msgs::msg::ObjectClassification::_label_ty struct TrackerProcessorConfig { std::map tracker_map; - size_t channel_size; float tracker_lifetime; // [s] float min_known_object_removal_iou; // ratio [0, 1] float min_unknown_object_removal_iou; // ratio [0, 1] @@ -48,14 +48,19 @@ struct TrackerProcessorConfig class TrackerProcessor { public: - explicit TrackerProcessor(const TrackerProcessorConfig & config); + TrackerProcessor( + const TrackerProcessorConfig & config, const AssociatorConfig & associator_config, + const std::vector & channels_config); const std::list> & getListTracker() const { return list_tracker_; } // tracker processes void predict(const rclcpp::Time & time); + void associate( + const types::DynamicObjectList & detected_objects, + std::unordered_map & direct_assignment, + std::unordered_map & reverse_assignment) const; void update( const types::DynamicObjectList & detected_objects, - const geometry_msgs::msg::Transform & self_transform, const std::unordered_map & direct_assignment); void spawn( const types::DynamicObjectList & detected_objects, @@ -74,7 +79,11 @@ class TrackerProcessor void getExistenceProbabilities(std::vector> & existence_vectors) const; private: - TrackerProcessorConfig config_; + const TrackerProcessorConfig config_; + const std::vector & channels_config_; + + std::unique_ptr association_; + std::list> list_tracker_; void removeOldTracker(const rclcpp::Time & time); void removeOverlappedTracker(const rclcpp::Time & time); diff --git a/perception/autoware_object_merger/CHANGELOG.rst b/perception/autoware_object_merger/CHANGELOG.rst index 4f0936d38a20f..0eba83ffd4ee4 100644 --- a/perception/autoware_object_merger/CHANGELOG.rst +++ b/perception/autoware_object_merger/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,10 +25,10 @@ Changelog for package autoware_object_merger 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_object_merger): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9893 `_) +* feat(autoware_object_merger): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9893 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_object_merger Co-authored-by: Taekjin LEE -* fix(perception): fix perception docs (`#9766 `_) +* fix(perception): fix perception docs (`#9766 `_) * fix: fix perception docs * fix: fix missing parameter in schema * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json @@ -38,29 +44,29 @@ Changelog for package autoware_object_merger --------- Co-authored-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (`#9733 `_) +* feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (`#9733 `_) feat: enable anonymized node names to be configurable * Contributors: Fumiya Watanabe, Taekjin LEE, Vishal Chauhan, Yi-Hsiang Fang (Vivid) 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -70,9 +76,9 @@ Changelog for package autoware_object_merger 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -83,21 +89,21 @@ Changelog for package autoware_object_merger 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 `_) -* fix(autoware_object_merger): default merger priority within enum range (`#8858 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_object_merger): default merger priority within enum range (`#8858 `_) fix: default merger priority within enum range -* fix(object_association_merger_node): fix the frame id of output object msg (`#8674 `_) +* fix(object_association_merger_node): fix the frame id of output object msg (`#8674 `_) fix: fix the object msg header -* fix(doc, object_merger): fix object merger document path (`#8292 `_) +* fix(doc, object_merger): fix object merger document path (`#8292 `_) fix object merger document path -* fix(autoware_object_merger): fix passedByValue (`#8232 `_) +* fix(autoware_object_merger): fix passedByValue (`#8232 `_) fix:passedByValue -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) +* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Taekjin LEE, Yi-Hsiang Fang (Vivid), Yutaka Kondo, Yuxuan Liu, kobayu858 0.26.0 (2024-04-03) diff --git a/perception/autoware_object_merger/package.xml b/perception/autoware_object_merger/package.xml index dcb52c0e00e70..e254c76c67f19 100644 --- a/perception/autoware_object_merger/package.xml +++ b/perception/autoware_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_object_merger - 0.42.0 + 0.43.0 The autoware_object_merger package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_range_splitter/CHANGELOG.rst b/perception/autoware_object_range_splitter/CHANGELOG.rst index a56b137e2eff2..6a185882eee60 100644 --- a/perception/autoware_object_range_splitter/CHANGELOG.rst +++ b/perception/autoware_object_range_splitter/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_object_range_splitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -18,21 +24,21 @@ Changelog for package autoware_object_range_splitter 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -42,9 +48,9 @@ Changelog for package autoware_object_range_splitter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -55,11 +61,11 @@ Changelog for package autoware_object_range_splitter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fox docs for autoware object range splitter (`#8306 `_) +* fix(docs): fox docs for autoware object range splitter (`#8306 `_) * fix docs for autoware object range splitter * fix spelling --------- -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_object_range_splitter/package.xml b/perception/autoware_object_range_splitter/package.xml index 9f2caaea2a57d..625638c9955e2 100644 --- a/perception/autoware_object_range_splitter/package.xml +++ b/perception/autoware_object_range_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_range_splitter - 0.42.0 + 0.43.0 The autoware_object_range_splitter package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_velocity_splitter/CHANGELOG.rst b/perception/autoware_object_velocity_splitter/CHANGELOG.rst index 830ca94ee71b8..0f1a1933eb3b0 100644 --- a/perception/autoware_object_velocity_splitter/CHANGELOG.rst +++ b/perception/autoware_object_velocity_splitter/CHANGELOG.rst @@ -2,11 +2,17 @@ Changelog for package autoware_object_velocity_splitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -14,7 +20,7 @@ Changelog for package autoware_object_velocity_splitter 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -25,21 +31,21 @@ Changelog for package autoware_object_velocity_splitter 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -49,9 +55,9 @@ Changelog for package autoware_object_velocity_splitter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -62,11 +68,11 @@ Changelog for package autoware_object_velocity_splitter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_object_velocity_splitter): fix funcArgNamesDifferent (`#8013 `_) +* fix(autoware_object_velocity_splitter): fix funcArgNamesDifferent (`#8013 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_object_velocity_splitter/package.xml b/perception/autoware_object_velocity_splitter/package.xml index f5c9697ef7ee5..a706f94626970 100644 --- a/perception/autoware_object_velocity_splitter/package.xml +++ b/perception/autoware_object_velocity_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_velocity_splitter - 0.42.0 + 0.43.0 autoware_object_velocity_splitter Sathshi Tanaka Yoshi Ri diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst index 6672a8084ea31..80a092907ab95 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst +++ b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,10 +25,10 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_occupancy_grid_map_outlier_filter): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9894 `_) +* feat(autoware_occupancy_grid_map_outlier_filter): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9894 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_occupancy_grid_map_outlier_filter Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* fix(perception): fix perception docs (`#9766 `_) +* fix(perception): fix perception docs (`#9766 `_) * fix: fix perception docs * fix: fix missing parameter in schema * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json @@ -43,25 +49,25 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_occupancy_grid_map_outlier_filter): fix bugprone-incorrect-roundings (`#9217 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_occupancy_grid_map_outlier_filter): fix bugprone-incorrect-roundings (`#9217 `_) * fix: bugprone-incorrect-roundings * fix: clang-format --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -71,9 +77,9 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -84,7 +90,7 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(occupancy_grid_map_outlier_filter): add time_keeper (`#8597 `_) +* feat(occupancy_grid_map_outlier_filter): add time_keeper (`#8597 `_) * add time_keeper * add option for time keeper * add scope and timekeeper @@ -93,12 +99,12 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter * add timekeeper option * fix comment --------- -* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) +* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) * add param and schema file, edit readme * . * correct linter errors --------- -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml index 20cd28aed4b34..01544c5eb9e4a 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml +++ b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml @@ -2,7 +2,7 @@ autoware_occupancy_grid_map_outlier_filter - 0.42.0 + 0.43.0 The ROS 2 occupancy_grid_map_outlier_filter package amc-nu Yukihiro Saito diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst index eba317ecd56fc..ea5394db96d42 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst +++ b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst @@ -2,13 +2,20 @@ Changelog for package autoware_probabilistic_occupancy_grid_map ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore(autoware_probabilistic_occupancy_grid_map): fixed cuda use on non-cuda settings (`#10099 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore(autoware_probabilistic_occupancy_grid_map): fixed cuda use on non-cuda settings (`#10099 `_) chore: fixed cuda use on non-cuda settings -* fix(probabilistic_occupancy_grid_map): build and runtime on non-cuda environments (`#10061 `_) +* fix(probabilistic_occupancy_grid_map): build and runtime on non-cuda environments (`#10061 `_) * feat: improved data handling in the ogm. When using the full concatenated pointcloud the processing time decreases from 8ms to 4ms * feat: added header blocks for non-cuda environments * chore: removed the cuda includes from the global includes @@ -17,13 +24,13 @@ Changelog for package autoware_probabilistic_occupancy_grid_map * chore: lint errors * feat: fixed errors during merge --------- -* feat(autoware_probabilistic_occupancy_grid_map): improved data handling on the ogm (`#10060 `_) +* feat(autoware_probabilistic_occupancy_grid_map): improved data handling on the ogm (`#10060 `_) feat: improved data handling in the ogm. When using the full concatenated pointcloud the processing time decreases from 8ms to 4ms * Contributors: Fumiya Watanabe, Kenzo Lobos Tsunekawa, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -32,7 +39,7 @@ Changelog for package autoware_probabilistic_occupancy_grid_map 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_probabilistic_occupancy_grid_map): cuda accelerated implementation (`#9542 `_) +* feat(autoware_probabilistic_occupancy_grid_map): cuda accelerated implementation (`#9542 `_) * feat: implemented a cuda accelerated ogm * chore: fixed cspells * chore: unused header and variable names @@ -57,10 +64,10 @@ Changelog for package autoware_probabilistic_occupancy_grid_map --------- Co-authored-by: Yoshi Ri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_probabilistic_occupancy_grid_map): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_probabilistic_occupancy_grid_map (`#9895 `_) +* feat(autoware_probabilistic_occupancy_grid_map): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_probabilistic_occupancy_grid_map (`#9895 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_probabilistic_occupancy_grid_map Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* fix(perception): fix perception docs (`#9766 `_) +* fix(perception): fix perception docs (`#9766 `_) * fix: fix perception docs * fix: fix missing parameter in schema * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json @@ -76,56 +83,56 @@ Changelog for package autoware_probabilistic_occupancy_grid_map --------- Co-authored-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-branch-clone (`#9652 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-branch-clone (`#9652 `_) fix: bugprone-error * Contributors: Fumiya Watanabe, Kenzo Lobos Tsunekawa, Vishal Chauhan, Yi-Hsiang Fang (Vivid), kobayu858 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) fix: bugprone-incorrect-roundings * Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) fix: bugprone-incorrect-roundings * Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(probabilistic_occupancy_grid_map): add time_keeper (`#8601 `_) +* feat(probabilistic_occupancy_grid_map): add time_keeper (`#8601 `_) * add time_keeper * add option for time keeper * correct namespace @@ -138,15 +145,15 @@ Changelog for package autoware_probabilistic_occupancy_grid_map * fix variable shadowing --------- Co-authored-by: Taekjin LEE -* fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction (`#8574 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction (`#8574 `_) fix:unusedFunction -* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8426 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8426 `_) fix:functionConst -* fix(autoware_probabilistic_occupancy_grid_map): fix uninitMemberVar (`#8333 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix uninitMemberVar (`#8333 `_) fix:uninitMemberVar -* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8289 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8289 `_) fix:functionConst -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt index 98b8f435d7d25..18e0b6fd58794 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt +++ b/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt @@ -135,7 +135,7 @@ ament_auto_package( # test # Temporary disabled, tracked by: -# https://github.com/autowarefoundation/autoware.universe/issues/7724 +# https://github.com/autowarefoundation/autoware_universe/issues/7724 #if(BUILD_TESTING) # # launch_testing # find_package(launch_testing_ament_cmake REQUIRED) diff --git a/perception/autoware_probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml index 815abb2e9e51a..991ac16175ec3 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/package.xml +++ b/perception/autoware_probabilistic_occupancy_grid_map/package.xml @@ -2,7 +2,7 @@ autoware_probabilistic_occupancy_grid_map - 0.42.0 + 0.43.0 generate probabilistic occupancy grid map Yukihiro Saito Yoshi Ri @@ -16,6 +16,7 @@ autoware_cmake eigen3_cmake_module + autoware_cuda_dependency_meta autoware_cuda_utils autoware_utils grid_map_costmap_2d diff --git a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst index 8623c45484475..4129b0e7825f9 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst +++ b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_radar_crossing_objects_noise_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* feat(autoware_radar_crossing_objects_noise_filter): created schema file and updated readme file for parameters setting (`#10001 `_) +* feat(autoware_radar_crossing_objects_noise_filter): created schema file and updated readme file for parameters setting (`#10001 `_) * feat(autoware_radar_crossing_objects_noise_filter): Created Schema file and updated ReadME file for parameters setting * style(pre-commit): autofix * Update README.md @@ -21,7 +27,7 @@ Changelog for package autoware_radar_crossing_objects_noise_filter 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -33,23 +39,23 @@ Changelog for package autoware_radar_crossing_objects_noise_filter 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* docs: update the list styles (`#9555 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* docs: update the list styles (`#9555 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -59,9 +65,9 @@ Changelog for package autoware_radar_crossing_objects_noise_filter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -72,12 +78,12 @@ Changelog for package autoware_radar_crossing_objects_noise_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter --------- -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_crossing_objects_noise_filter/README.md b/perception/autoware_radar_crossing_objects_noise_filter/README.md index 134aa703faa53..c0444c0632c19 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/README.md +++ b/perception/autoware_radar_crossing_objects_noise_filter/README.md @@ -24,7 +24,7 @@ Velocity estimation fails on static objects, resulting in ghost objects crossing #### 2. Turning around by ego vehicle affect the output from radar -When the ego vehicle turns around, the radars outputting at the object level sometimes fail to estimate the twist of objects correctly even if [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_tracks_msgs_converter) compensates by the ego vehicle twist. +When the ego vehicle turns around, the radars outputting at the object level sometimes fail to estimate the twist of objects correctly even if [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_radar_tracks_msgs_converter) compensates by the ego vehicle twist. So if an object detected by radars has circular motion viewing from base_link, it is likely that the speed is estimated incorrectly and that the object is a static object. The example is below figure. diff --git a/perception/autoware_radar_crossing_objects_noise_filter/package.xml b/perception/autoware_radar_crossing_objects_noise_filter/package.xml index b203f6440adeb..94abd18764f75 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/package.xml +++ b/perception/autoware_radar_crossing_objects_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_crossing_objects_noise_filter - 0.42.0 + 0.43.0 autoware_radar_crossing_objects_noise_filter Sathshi Tanaka Yoshi Ri diff --git a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst index af3c666927af6..d47d77b379ea7 100644 --- a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst +++ b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst @@ -2,11 +2,17 @@ Changelog for package autoware_radar_fusion_to_detected_object ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -14,7 +20,7 @@ Changelog for package autoware_radar_fusion_to_detected_object 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -23,27 +29,27 @@ Changelog for package autoware_radar_fusion_to_detected_object 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (`#9654 `_) +* fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (`#9654 `_) fix: bugprone-error * Contributors: Fumiya Watanabe, kobayu858 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -53,9 +59,9 @@ Changelog for package autoware_radar_fusion_to_detected_object 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -66,16 +72,16 @@ Changelog for package autoware_radar_fusion_to_detected_object 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_radar_fusion_to_detected_object): fix variableScope (`#8429 `_) +* fix(autoware_radar_fusion_to_detected_object): fix variableScope (`#8429 `_) fix:variableScope Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* fix(autoware_radar_fusion_to_detected_object): fix functionConst (`#8287 `_) +* fix(autoware_radar_fusion_to_detected_object): fix functionConst (`#8287 `_) fix:functionConst -* fix(autoware_radar_fusion_to_detected_object): fix warnings of functionStatic (`#8052 `_) +* fix(autoware_radar_fusion_to_detected_object): fix warnings of functionStatic (`#8052 `_) fix: deal with functionStatic warning -* fix(autoware_radar_fusion_to_detected_object): fix constParameterReference (`#8040 `_) +* fix(autoware_radar_fusion_to_detected_object): fix constParameterReference (`#8040 `_) fix:constParameterReference -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_fusion_to_detected_object/package.xml b/perception/autoware_radar_fusion_to_detected_object/package.xml index 7ffe896821ae1..5049d7a8b8d7a 100644 --- a/perception/autoware_radar_fusion_to_detected_object/package.xml +++ b/perception/autoware_radar_fusion_to_detected_object/package.xml @@ -2,7 +2,7 @@ autoware_radar_fusion_to_detected_object - 0.42.0 + 0.43.0 autoware_radar_fusion_to_detected_object Satoshi Tanaka Yoshi Ri diff --git a/perception/autoware_radar_object_clustering/CHANGELOG.rst b/perception/autoware_radar_object_clustering/CHANGELOG.rst index f323f0af2252f..c1f278b5fb95c 100644 --- a/perception/autoware_radar_object_clustering/CHANGELOG.rst +++ b/perception/autoware_radar_object_clustering/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_radar_object_clustering ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* feat(radar_object_clustering): created schema file and updated readme file for parameters settings (`#9966 `_) +* feat(radar_object_clustering): created schema file and updated readme file for parameters settings (`#9966 `_) * feat: created schema files and upadted Readme file , yaml files * style(pre-commit): autofix * Update README.md @@ -21,7 +27,7 @@ Changelog for package autoware_radar_object_clustering 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -33,22 +39,22 @@ Changelog for package autoware_radar_object_clustering 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* docs: update the list styles (`#9555 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* docs: update the list styles (`#9555 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -58,9 +64,9 @@ Changelog for package autoware_radar_object_clustering 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -71,22 +77,22 @@ Changelog for package autoware_radar_object_clustering 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 `_) -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter --------- -* fix(autoware_radar_object_clustering): fix funcArgNamesDifferent (`#8014 `_) +* fix(autoware_radar_object_clustering): fix funcArgNamesDifferent (`#8014 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) * refactor: rename multi_object_tracker package to autoware_multi_object_tracker * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_object_clustering/README.md b/perception/autoware_radar_object_clustering/README.md index a5a5c4ee68e5a..ddeb97c1f5e08 100644 --- a/perception/autoware_radar_object_clustering/README.md +++ b/perception/autoware_radar_object_clustering/README.md @@ -2,7 +2,7 @@ This package contains a radar object clustering for [autoware_perception_msgs/msg/DetectedObject](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_perception_msgs/msg/DetectedObject.idl) input. -This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_tracks_msgs_converter) and is processed by noise filter. +This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_radar_tracks_msgs_converter) and is processed by noise filter. In other word, this package can combine multiple radar detections from one object into one and adjust class and size. ![radar_clustering](docs/radar_clustering.drawio.svg) @@ -44,7 +44,7 @@ When the size information from radar outputs lack accuracy, `is_fixed_size` para If the parameter is true, the size of a clustered object is overwritten by the label set by `size_x`, `size_y`, and `size_z` parameters. If this package use for faraway dynamic object detection with radar, the parameter is recommended to set to `size_x`, `size_y`, `size_z`, as average of vehicle size. -Note that to use for [multi_objects_tracker](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_multi_object_tracker), the size parameters need to exceed `min_area_matrix` parameters of it. +Note that to use for [multi_objects_tracker](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_multi_object_tracker), the size parameters need to exceed `min_area_matrix` parameters of it. ### Limitation diff --git a/perception/autoware_radar_object_clustering/package.xml b/perception/autoware_radar_object_clustering/package.xml index 77d8769e9bb9d..2d075ecb9ea7d 100644 --- a/perception/autoware_radar_object_clustering/package.xml +++ b/perception/autoware_radar_object_clustering/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_clustering - 0.42.0 + 0.43.0 autoware_radar_object_clustering Sathshi Tanaka Yoshi Ri diff --git a/perception/autoware_radar_object_tracker/CHANGELOG.rst b/perception/autoware_radar_object_tracker/CHANGELOG.rst index c091dc2d962a1..d8bd4c494c80e 100644 --- a/perception/autoware_radar_object_tracker/CHANGELOG.rst +++ b/perception/autoware_radar_object_tracker/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_radar_object_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,22 +28,22 @@ Changelog for package autoware_radar_object_tracker 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package autoware_radar_object_tracker 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,29 +66,29 @@ Changelog for package autoware_radar_object_tracker 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 `_) -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* 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> -* fix(autoware_radar_object_tracker): fix redundantInitialization (`#8227 `_) +* fix(autoware_radar_object_tracker): fix redundantInitialization (`#8227 `_) * fix(autoware_radar_object_tracker): fix redundantInitialization * Update perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp Co-authored-by: Yukihiro Saito --------- Co-authored-by: Yukihiro Saito -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* fix(autoware_radar_object_tracker): fix funcArgNamesDifferent (`#8015 `_) +* fix(autoware_radar_object_tracker): fix funcArgNamesDifferent (`#8015 `_) fix:funcArgNamesDifferent -* fix(autoware_radar_object_tracker): fix shadowVariable (`#7945 `_) +* fix(autoware_radar_object_tracker): fix shadowVariable (`#7945 `_) fix:shadowVariable -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml index 00ebaa9e22d17..73a97d3e59047 100644 --- a/perception/autoware_radar_object_tracker/package.xml +++ b/perception/autoware_radar_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_tracker - 0.42.0 + 0.43.0 Do tracking radar object Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst index a1a5bbe4a9066..1b52ed1a2a64a 100644 --- a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst +++ b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst @@ -2,11 +2,17 @@ Changelog for package autoware_radar_tracks_msgs_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -14,7 +20,7 @@ Changelog for package autoware_radar_tracks_msgs_converter 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -23,27 +29,27 @@ Changelog for package autoware_radar_tracks_msgs_converter 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(autoware_radar_tracks_msgs_converter): fix bugprone-reserved-identifier (`#9658 `_) +* fix(autoware_radar_tracks_msgs_converter): fix bugprone-reserved-identifier (`#9658 `_) fix: bugprone-error * Contributors: Fumiya Watanabe, kobayu858 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -53,9 +59,9 @@ Changelog for package autoware_radar_tracks_msgs_converter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -66,11 +72,11 @@ Changelog for package autoware_radar_tracks_msgs_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fix docs for radar tracks msgs converter (`#8305 `_) +* fix(docs): fix docs for radar tracks msgs converter (`#8305 `_) * fix docs for radar tracks msgs converter * fix a not correctly formatted link in readme found by CI --------- -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter diff --git a/perception/autoware_radar_tracks_msgs_converter/package.xml b/perception/autoware_radar_tracks_msgs_converter/package.xml index 28efd713e746f..eff22d95c4e7e 100644 --- a/perception/autoware_radar_tracks_msgs_converter/package.xml +++ b/perception/autoware_radar_tracks_msgs_converter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_msgs_converter - 0.42.0 + 0.43.0 autoware_radar_tracks_msgs_converter Satoshi Tanaka Yoshi Ri diff --git a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst index 641e298181626..ec618a6feec43 100644 --- a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst +++ b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_raindrop_cluster_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,30 +25,30 @@ Changelog for package autoware_raindrop_cluster_filter 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9896 `_) +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9896 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_raindrop_cluster_filter * Contributors: Fumiya Watanabe, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* fix(autoware_raindrop_cluster_filter): fix clang-diagnostic-unused-private-field (`#9496 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_raindrop_cluster_filter): fix clang-diagnostic-unused-private-field (`#9496 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -52,9 +58,9 @@ Changelog for package autoware_raindrop_cluster_filter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -65,11 +71,11 @@ Changelog for package autoware_raindrop_cluster_filter 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 `_) -* chore(raindrop_cluster_filter): add node test (`#8859 `_) -* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* chore(raindrop_cluster_filter): add node test (`#8859 `_) +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) refactor: rename detected_object_validation to autoware_detected_object_validation -* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) +* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) * refactor(raindrop_cluster_filter): add package name prefix of autoware\_ * fix: typo --------- diff --git a/perception/autoware_raindrop_cluster_filter/package.xml b/perception/autoware_raindrop_cluster_filter/package.xml index 9c4de5db38dc7..6c2c0aebb95f2 100644 --- a/perception/autoware_raindrop_cluster_filter/package.xml +++ b/perception/autoware_raindrop_cluster_filter/package.xml @@ -2,7 +2,7 @@ autoware_raindrop_cluster_filter - 0.42.0 + 0.43.0 The ROS 2 filter cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_shape_estimation/CHANGELOG.rst b/perception/autoware_shape_estimation/CHANGELOG.rst index 4d155acaa3093..ed0f63ccf09d6 100644 --- a/perception/autoware_shape_estimation/CHANGELOG.rst +++ b/perception/autoware_shape_estimation/CHANGELOG.rst @@ -2,15 +2,22 @@ Changelog for package autoware_shape_estimation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,9 +26,9 @@ Changelog for package autoware_shape_estimation 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_shape_estimation): tier4_debug_msgs chnaged to autoware_internal_debug_msgs in autoware_shape_estimation (`#9897 `_) +* feat(autoware_shape_estimation): tier4_debug_msgs chnaged to autoware_internal_debug_msgs in autoware_shape_estimation (`#9897 `_) feat: tier4_debug_msgs chnaged to autoware_internal_debug_msgs in files perception/autoware_shape_estimation -* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components * style(pre-commit): autofix * style(autoware_tensorrt_common): linting @@ -49,7 +56,7 @@ Changelog for package autoware_shape_estimation Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* fix(autoware_shape_estimation): fix bugprone-branch-clone (`#9659 `_) +* fix(autoware_shape_estimation): fix bugprone-branch-clone (`#9659 `_) * fix: bugprone-error * fix: fmt * fix: pre-commit @@ -60,56 +67,56 @@ Changelog for package autoware_shape_estimation 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* refactor: correct spelling (`#9528 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* refactor: correct spelling (`#9528 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) +* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) * add object based corrector * apply cppcheck suggestion * fix typo --------- Co-authored-by: Taekjin LEE -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -117,17 +124,17 @@ Changelog for package autoware_shape_estimation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* test(autoware_shape_estimation): add unit testing for `ShapeEstimationNode` (`#8740 `_) +* test(autoware_shape_estimation): add unit testing for `ShapeEstimationNode` (`#8740 `_) test: add unit testing for `ShapeEstimationNode` -* fix(autoware_shape_estimation): fix unusedFunction (`#8575 `_) +* fix(autoware_shape_estimation): fix unusedFunction (`#8575 `_) * fix:unusedFunction * fix:unusedFunction * fix:end of file issues * fix:copyright --------- -* fix(autoware_shape_estimation): resolve undefined reference to `~TrtShapeEstimator()` (`#8738 `_) +* fix(autoware_shape_estimation): resolve undefined reference to `~TrtShapeEstimator()` (`#8738 `_) fix: resolve undefined reference to `~TrtShapeEstimator()` -* feat(shape_estimation): add ml shape estimation (`#7860 `_) +* feat(shape_estimation): add ml shape estimation (`#7860 `_) * feat(shape_estimation): add ml shape estimation * style(pre-commit): autofix * feat(shape_estimation): fix exceed objects @@ -135,7 +142,7 @@ Changelog for package autoware_shape_estimation * feat(shape_estimation): fix indent --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml index a3b5cdb286df8..29850db611a3d 100644 --- a/perception/autoware_shape_estimation/package.xml +++ b/perception/autoware_shape_estimation/package.xml @@ -2,7 +2,7 @@ autoware_shape_estimation - 0.42.0 + 0.43.0 This package implements a shape estimation algorithm as a ROS 2 node Yukihiro Saito Yoshi Ri @@ -17,6 +17,7 @@ cudnn_cmake_module tensorrt_cmake_module + autoware_cuda_dependency_meta autoware_cuda_utils autoware_perception_msgs autoware_tensorrt_common diff --git a/perception/autoware_simple_object_merger/CHANGELOG.rst b/perception/autoware_simple_object_merger/CHANGELOG.rst index 8b6ad158feb81..50503f48cf241 100644 --- a/perception/autoware_simple_object_merger/CHANGELOG.rst +++ b/perception/autoware_simple_object_merger/CHANGELOG.rst @@ -2,11 +2,17 @@ Changelog for package autoware_simple_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -14,7 +20,7 @@ Changelog for package autoware_simple_object_merger 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -25,21 +31,21 @@ Changelog for package autoware_simple_object_merger 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -49,9 +55,9 @@ Changelog for package autoware_simple_object_merger 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -62,7 +68,7 @@ Changelog for package autoware_simple_object_merger 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter diff --git a/perception/autoware_simple_object_merger/README.md b/perception/autoware_simple_object_merger/README.md index a1e142b2bd85c..b00439b7792bf 100644 --- a/perception/autoware_simple_object_merger/README.md +++ b/perception/autoware_simple_object_merger/README.md @@ -6,7 +6,7 @@ This package can merge multiple topics of [autoware_perception_msgs/msg/Detected ### Background -[Object_merger](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_merger) is mainly used for merge process with DetectedObjects. There are 2 characteristics in `Object_merger`. First, `object_merger` solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, `object_merger` can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 `object_merger` nodes need to stand for now. +[Object_merger](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/object_merger) is mainly used for merge process with DetectedObjects. There are 2 characteristics in `Object_merger`. First, `object_merger` solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, `object_merger` can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 `object_merger` nodes need to stand for now. Therefore, `autoware_simple_object_merger` aim to merge multiple DetectedObjects with low calculation cost. The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes. @@ -25,7 +25,7 @@ Merged objects will not be published until all topic data is received when initi - Post-processing -Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used. For now, [clustering processing](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_clustering) can be used as post-processing. +Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used. For now, [clustering processing](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_radar_object_clustering) can be used as post-processing. ## Interface diff --git a/perception/autoware_simple_object_merger/package.xml b/perception/autoware_simple_object_merger/package.xml index 5ffa01bc36c28..f55f8654935d7 100644 --- a/perception/autoware_simple_object_merger/package.xml +++ b/perception/autoware_simple_object_merger/package.xml @@ -1,7 +1,7 @@ autoware_simple_object_merger - 0.42.0 + 0.43.0 autoware_simple_object_merger Sathshi Tanaka Yoshi Ri diff --git a/perception/autoware_tensorrt_classifier/CHANGELOG.rst b/perception/autoware_tensorrt_classifier/CHANGELOG.rst index 8a97730b6544d..ec17c9a75cd16 100644 --- a/perception/autoware_tensorrt_classifier/CHANGELOG.rst +++ b/perception/autoware_tensorrt_classifier/CHANGELOG.rst @@ -2,10 +2,17 @@ Changelog for package autoware_tensorrt_classifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore: refine maintainer list (`#10110 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -13,7 +20,7 @@ Changelog for package autoware_tensorrt_classifier 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,7 +29,7 @@ Changelog for package autoware_tensorrt_classifier 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components * style(pre-commit): autofix * style(autoware_tensorrt_common): linting @@ -50,57 +57,57 @@ Changelog for package autoware_tensorrt_classifier Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* fix(autoware_tensorrt_classifier): fix bugprone-exception-escape (`#9732 `_) +* fix(autoware_tensorrt_classifier): fix bugprone-exception-escape (`#9732 `_) fix: bugprone-error * Contributors: Amadeusz Szymko, Fumiya Watanabe, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* fix(autoware_tensorrt_classifier): fix clang errors (`#9508 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tensorrt_classifier): fix clang errors (`#9508 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -108,13 +115,13 @@ Changelog for package autoware_tensorrt_classifier --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(tensorrt classifier wrapper): fix unreadVariable (`#8355 `_) +* fix(tensorrt classifier wrapper): fix unreadVariable (`#8355 `_) * fix:unreadVariable * fix:unreadVariable --------- -* fix(autoware_tensorrt_classifier): fix passedByValue (`#8236 `_) +* fix(autoware_tensorrt_classifier): fix passedByValue (`#8236 `_) fix:passedByValue -* refactor(tensorrt_classifier)!: fix namespace and directory structure (`#8009 `_) +* refactor(tensorrt_classifier)!: fix namespace and directory structure (`#8009 `_) * add prefix into * add prefix in CODEOWNERS * remove invalid author diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml index af50dc9d667e8..f96a2eb50f5c6 100644 --- a/perception/autoware_tensorrt_classifier/package.xml +++ b/perception/autoware_tensorrt_classifier/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_classifier - 0.42.0 + 0.43.0 tensorrt classifier wrapper Dan Umeda @@ -19,6 +19,7 @@ autoware_cmake + autoware_cuda_dependency_meta autoware_cuda_utils autoware_tensorrt_common libopencv-dev diff --git a/perception/autoware_tensorrt_common/CHANGELOG.rst b/perception/autoware_tensorrt_common/CHANGELOG.rst index 67aefc8987031..3e676d755581d 100644 --- a/perception/autoware_tensorrt_common/CHANGELOG.rst +++ b/perception/autoware_tensorrt_common/CHANGELOG.rst @@ -2,12 +2,19 @@ Changelog for package autoware_tensorrt_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,7 +23,7 @@ Changelog for package autoware_tensorrt_common 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components * style(pre-commit): autofix * style(autoware_tensorrt_common): linting @@ -44,30 +51,30 @@ Changelog for package autoware_tensorrt_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* fix(autoware_tensorrt_common): fix bugprone-integer-division (`#9660 `_) +* fix(autoware_tensorrt_common): fix bugprone-integer-division (`#9660 `_) fix: bugprone-error * Contributors: Amadeusz Szymko, Fumiya Watanabe, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* fix(autoware_tensorrt_common): fix clang-diagnostic-unused-private-field (`#9493 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tensorrt_common): fix clang-diagnostic-unused-private-field (`#9493 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -77,9 +84,9 @@ Changelog for package autoware_tensorrt_common 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -90,7 +97,7 @@ Changelog for package autoware_tensorrt_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix diff --git a/perception/autoware_tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml index 1d19b28531f69..ee737e7dd243e 100644 --- a/perception/autoware_tensorrt_common/package.xml +++ b/perception/autoware_tensorrt_common/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_common - 0.42.0 + 0.43.0 tensorrt utility wrapper Taichi Higashide @@ -17,6 +17,7 @@ cudnn_cmake_module tensorrt_cmake_module + autoware_cuda_dependency_meta rclcpp ament_lint_auto diff --git a/perception/autoware_tensorrt_yolox/CHANGELOG.rst b/perception/autoware_tensorrt_yolox/CHANGELOG.rst index 0ab38d8a7bcd3..3c00b971260b3 100644 --- a/perception/autoware_tensorrt_yolox/CHANGELOG.rst +++ b/perception/autoware_tensorrt_yolox/CHANGELOG.rst @@ -2,15 +2,53 @@ Changelog for package autoware_tensorrt_yolox ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* chore(perception): refactor perception launch (`#10186 `_) + * fundamental change + * style(pre-commit): autofix + * fix typo + * fix params and modify some packages + * pre-commit + * fix + * fix spell check + * fix typo + * integrate model and label path + * style(pre-commit): autofix + * for pre-commit + * run pre-commit + * for awsim + * for simulatior + * style(pre-commit): autofix + * fix grammer in launcher + * add schema for yolox_tlr + * style(pre-commit): autofix + * fix file name + * fix + * rename + * modify arg name to + * fix typo + * change param name + * style(pre-commit): autofix + * chore + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Masato Saeki, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,16 +57,16 @@ Changelog for package autoware_tensorrt_yolox 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_tensorrt_yolox)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_tensorrt_yolox (`#9898 `_) -* feat(tensorrt_yolox): add launch for tlr model (`#9828 `_) +* feat(autoware_tensorrt_yolox)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_tensorrt_yolox (`#9898 `_) +* feat(tensorrt_yolox): add launch for tlr model (`#9828 `_) * feat(tensorrt_yolox): add launch for tlr model * chore: typo * docs: update readme and description * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_tensorrt_yolox): modify tensorrt_yolox_node name (`#9156 `_) -* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) +* fix(autoware_tensorrt_yolox): modify tensorrt_yolox_node name (`#9156 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components * style(pre-commit): autofix * style(autoware_tensorrt_common): linting @@ -56,7 +94,7 @@ Changelog for package autoware_tensorrt_yolox Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* fix(autoware_tensorrt_yolox): fix bugprone-exception-escape (`#9734 `_) +* fix(autoware_tensorrt_yolox): fix bugprone-exception-escape (`#9734 `_) * fix: bugprone-error * fix: fmt * fix: fmt @@ -66,51 +104,51 @@ Changelog for package autoware_tensorrt_yolox 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* fix(autoware_tensorrt_yolox): fix clang-diagnostic-inconsistent-missing-override (`#9512 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tensorrt_yolox): fix clang-diagnostic-inconsistent-missing-override (`#9512 `_) fix: clang-diagnostic-inconsistent-missing-override * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -118,27 +156,27 @@ Changelog for package autoware_tensorrt_yolox --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) * init CUDA device option Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_tensorrt_yolox): add Kotaro Uetake as maintainer (`#8595 `_) +* chore(autoware_tensorrt_yolox): add Kotaro Uetake as maintainer (`#8595 `_) chore: add Kotaro Uetake as maintainer -* fix: cpp17 namespaces (`#8526 `_) +* fix: cpp17 namespaces (`#8526 `_) Use traditional-style nameplace nesting for nvcc Co-authored-by: Yuri Guimaraes -* fix(docs): fix docs for tensorrt yolox (`#8304 `_) +* fix(docs): fix docs for tensorrt yolox (`#8304 `_) fix docs for tensorrt yolox -* refactor(tensorrt_yolox): move utils into perception_utils (`#8435 `_) +* refactor(tensorrt_yolox): move utils into perception_utils (`#8435 `_) * chore(tensorrt_yolo): refactor utils * style(pre-commit): autofix * fix: tensorrt_yolox --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_tensorrt_yolox): fix variableScope (`#8430 `_) +* fix(autoware_tensorrt_yolox): fix variableScope (`#8430 `_) fix: variableScope Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* fix(tensorrt_yolox): add run length encoding for sematic segmentation mask (`#7905 `_) +* fix(tensorrt_yolox): add run length encoding for sematic segmentation mask (`#7905 `_) * fix: add rle compress * fix: rle compress * fix: move rle into utils @@ -160,11 +198,11 @@ Changelog for package autoware_tensorrt_yolox Co-authored-by: Yukihiro Saito Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_tensorrt_yolox): fix unreadVariable (`#8356 `_) +* fix(autoware_tensorrt_yolox): fix unreadVariable (`#8356 `_) * fix:unreadVariable * fix:unreadVariable --------- -* refactor: image transport decompressor/autoware prefix (`#8197 `_) +* refactor: image transport decompressor/autoware prefix (`#8197 `_) * refactor: add `autoware` namespace prefix to image_transport_decompressor * refactor(image_transport_decompressor): add `autoware` prefix to the package code * refactor: update package name in CODEOWNER @@ -175,7 +213,7 @@ Changelog for package autoware_tensorrt_yolox --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) * refactor: add autoware namespace prefix to `tensorrt_yolox` * refactor: apply `autoware` namespace to tensorrt_yolox * chore: update CODEOWNERS diff --git a/perception/autoware_tensorrt_yolox/README.md b/perception/autoware_tensorrt_yolox/README.md index b211219e60ac6..3d53d970df876 100644 --- a/perception/autoware_tensorrt_yolox/README.md +++ b/perception/autoware_tensorrt_yolox/README.md @@ -33,9 +33,18 @@ Zheng Ge, Songtao Liu, Feng Wang, Zeming Li, Jian Sun, "YOLOX: Exceeding YOLO Se ## Parameters +### yolox_s_plus_opt + {{ json_to_markdown("perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json") }} + +### yolox_tiny + {{ json_to_markdown("perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json") }} +### yolox_traffic_light_detector + +{{ json_to_markdown("perception/autoware_tensorrt_yolox/schema/yolox_traffic_light_detector.schema.json") }} + ## Assumptions / Known limits The label contained in detected 2D bounding boxes (i.e., `out/objects`) will be either one of the followings: diff --git a/perception/autoware_tensorrt_yolox/config/yolox_s_plus_opt.param.yaml b/perception/autoware_tensorrt_yolox/config/yolox_s_plus_opt.param.yaml index df01e2cb6eec6..3305ed390d073 100644 --- a/perception/autoware_tensorrt_yolox/config/yolox_s_plus_opt.param.yaml +++ b/perception/autoware_tensorrt_yolox/config/yolox_s_plus_opt.param.yaml @@ -22,9 +22,6 @@ PEDESTRIAN : true ANIMAL: true - model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx" - label_path: "$(var data_path)/tensorrt_yolox/label.txt" - color_map_path: "$(var data_path)/tensorrt_yolox/semseg_color_map.csv" score_threshold: 0.35 nms_threshold: 0.7 diff --git a/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml b/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml index e8b5b38503c9b..a7095aa8755c6 100644 --- a/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml +++ b/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml @@ -22,9 +22,6 @@ PEDESTRIAN : true ANIMAL: true - model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx" # The onnx file name for YOLOX model. - label_path: "$(var data_path)/tensorrt_yolox/label.txt" # The label file path for YOLOX model. - color_map_path: "$(var data_path)/tensorrt_yolox/semseg_color_map.csv" score_threshold: 0.35 # Objects with a score lower than this value will be ignored. This threshold will be ignored if specified model contains EfficientNMS_TRT module in it. nms_threshold: 0.7 # Detection results will be ignored if IoU over this value. This threshold will be ignored if specified model contains EfficientNMS_TRT module in it. diff --git a/perception/autoware_tensorrt_yolox/config/yolox_traffic_light_detector.param.yaml b/perception/autoware_tensorrt_yolox/config/yolox_traffic_light_detector.param.yaml index 4982204892488..450e81b2d79e3 100644 --- a/perception/autoware_tensorrt_yolox/config/yolox_traffic_light_detector.param.yaml +++ b/perception/autoware_tensorrt_yolox/config/yolox_traffic_light_detector.param.yaml @@ -2,8 +2,6 @@ /**: ros__parameters: - model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx" - label_path: "$(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt" score_threshold: 0.35 nms_threshold: 0.7 @@ -18,9 +16,7 @@ gpu_id: 0 # GPU ID to select CUDA Device calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization. - # default params of tensorrt_yolox package, only effective for semseg model - color_map_path: "$(var data_path)/tensorrt_yolox/semseg_color_map.csv" is_roi_overlap_segment: false overlap_roi_score_threshold: 0.3 is_publish_color_mask: false diff --git a/perception/autoware_tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml b/perception/autoware_tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml index 6d40905d78127..2692b1d5772db 100644 --- a/perception/autoware_tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml +++ b/perception/autoware_tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml @@ -3,24 +3,30 @@ + + + + + - - + + + - + - + @@ -28,6 +34,9 @@ + + + diff --git a/perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml b/perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml index a3708d14b5392..5bf3e5bae6725 100644 --- a/perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml +++ b/perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml @@ -1,24 +1,32 @@ + + + - - + + + + - + - + + + + diff --git a/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml b/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml index 67aae61b54376..ffa57a569635e 100644 --- a/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml +++ b/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml @@ -1,24 +1,32 @@ + + + - - + + + + - + - + + + + diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index 276d184beeab0..bd159533667bc 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_yolox - 0.42.0 + 0.43.0 tensorrt library implementation for yolox Daisuke Nishimatsu @@ -19,6 +19,7 @@ cudnn_cmake_module tensorrt_cmake_module + autoware_cuda_dependency_meta autoware_cuda_utils autoware_internal_debug_msgs autoware_object_recognition_utils diff --git a/perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json b/perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json index a55158be80b7c..19ac567e66824 100644 --- a/perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json +++ b/perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json @@ -6,16 +6,6 @@ "yolox_s_plus_opt": { "type": "object", "properties": { - "model_path": { - "type": "string", - "default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx", - "description": "Path to onnx model." - }, - "label_path": { - "type": "string", - "default": "$(var data_path)/tensorrt_yolox/label.txt", - "description": "Path to label file." - }, "score_threshold": { "type": "number", "default": 0.35, @@ -82,8 +72,6 @@ } }, "required": [ - "model_path", - "label_path", "score_threshold", "nms_threshold", "precision", diff --git a/perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json b/perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json index 707cd393d6828..9c8c973d030e5 100644 --- a/perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json +++ b/perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json @@ -6,16 +6,6 @@ "yolox_tiny": { "type": "object", "properties": { - "model_path": { - "type": "string", - "default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx", - "description": "Path to onnx model." - }, - "label_path": { - "type": "string", - "default": "$(var data_path)/tensorrt_yolox/label.txt", - "description": "Path to label file." - }, "score_threshold": { "type": "number", "default": 0.35, @@ -82,8 +72,6 @@ } }, "required": [ - "model_path", - "label_path", "score_threshold", "nms_threshold", "precision", diff --git a/perception/autoware_tensorrt_yolox/schema/yolox_traffic_light_detector.schema.json b/perception/autoware_tensorrt_yolox/schema/yolox_traffic_light_detector.schema.json new file mode 100644 index 0000000000000..ecb656c4af84e --- /dev/null +++ b/perception/autoware_tensorrt_yolox/schema/yolox_traffic_light_detector.schema.json @@ -0,0 +1,101 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for tensorrt_traffic_light_detector Nodes", + "type": "object", + "definitions": { + "yolox_traffic_light_detector": { + "type": "object", + "properties": { + "score_threshold": { + "type": "number", + "default": 0.35, + "minimum": 0.0, + "maximum": 1.0, + "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored." + }, + "nms_threshold": { + "type": "number", + "default": 0.7, + "minimum": 0.0, + "maximum": 1.0, + "description": "A threshold value of NMS." + }, + "precision": { + "type": "string", + "default": "fp16", + "description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]." + }, + "calibration_algorithm": { + "type": "string", + "default": "MinMax", + "description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]." + }, + "dla_core_id": { + "type": "number", + "default": -1, + "description": "If positive ID value is specified, the node assign inference task to the DLA core." + }, + "quantize_first_layer": { + "type": "boolean", + "default": false, + "description": "If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8." + }, + "quantize_last_layer": { + "type": "boolean", + "default": false, + "description": "If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8." + }, + "profile_per_layer": { + "type": "boolean", + "default": false, + "description": "If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose." + }, + "clip_value": { + "type": "number", + "default": 0.0, + "description": "If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration." + }, + "preprocess_on_gpu": { + "type": "boolean", + "default": true, + "description": "If true, pre-processing is performed on GPU." + }, + "gpu_id": { + "type": "integer", + "default": 0, + "description": "GPU ID for selecting CUDA device" + }, + "calibration_image_list_path": { + "type": "string", + "default": "", + "description": "Path to a file which contains path to images. Those images will be used for int8 quantization." + } + }, + "required": [ + "score_threshold", + "nms_threshold", + "precision", + "calibration_algorithm", + "dla_core_id", + "quantize_first_layer", + "quantize_last_layer", + "profile_per_layer", + "clip_value", + "preprocess_on_gpu", + "gpu_id" + ] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/yolox_traffic_light_detector" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/autoware_tracking_object_merger/CHANGELOG.rst b/perception/autoware_tracking_object_merger/CHANGELOG.rst index 23d93b0173a65..e3f9b502a743a 100644 --- a/perception/autoware_tracking_object_merger/CHANGELOG.rst +++ b/perception/autoware_tracking_object_merger/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_tracking_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,10 +25,10 @@ Changelog for package autoware_tracking_object_merger 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_tracking_object_merger)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_tracking_object_merger (`#9899 `_) -* feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (`#9733 `_) +* feat(autoware_tracking_object_merger)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_tracking_object_merger (`#9899 `_) +* feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (`#9733 `_) feat: enable anonymized node names to be configurable -* fix(autoware_tracking_object_merger): fix bugprone-branch-clone (`#9662 `_) +* fix(autoware_tracking_object_merger): fix bugprone-branch-clone (`#9662 `_) * fix: bugprone-error * fix: fmt --------- @@ -31,25 +37,25 @@ Changelog for package autoware_tracking_object_merger 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (`#9507 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (`#9507 `_) fix: clang-diagnostic-sign-conversion -* fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (`#9494 `_) +* fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (`#9494 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -59,9 +65,9 @@ Changelog for package autoware_tracking_object_merger 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -72,20 +78,20 @@ Changelog for package autoware_tracking_object_merger 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 `_) -* fix(autoware_tracking_object_merger): fix unusedFunction (`#8578 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_tracking_object_merger): fix unusedFunction (`#8578 `_) fix:unusedFunction -* fix(autoware_tracking_object_merger): add merge frame (`#8418 `_) +* fix(autoware_tracking_object_merger): add merge frame (`#8418 `_) * fix(autoware_tracking_object_merger): add merge frame * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) +* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) * Contributors: Esteve Fernandez, Kaan Çolak, Ryuta Kambe, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/perception/autoware_tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml index 7ea7a1afda2e2..acb45eeb2a0f0 100644 --- a/perception/autoware_tracking_object_merger/package.xml +++ b/perception/autoware_tracking_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_tracking_object_merger - 0.42.0 + 0.43.0 merge tracking object Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst index 4183ea00d40c5..c5e222fd88932 100644 --- a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst +++ b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst @@ -2,14 +2,51 @@ Changelog for package autoware_traffic_light_arbiter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* chore(perception): refactor perception launch (`#10186 `_) + * fundamental change + * style(pre-commit): autofix + * fix typo + * fix params and modify some packages + * pre-commit + * fix + * fix spell check + * fix typo + * integrate model and label path + * style(pre-commit): autofix + * for pre-commit + * run pre-commit + * for awsim + * for simulatior + * style(pre-commit): autofix + * fix grammer in launcher + * add schema for yolox_tlr + * style(pre-commit): autofix + * fix file name + * fix + * rename + * modify arg name to + * fix typo + * change param name + * style(pre-commit): autofix + * chore + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore: refine maintainer list (`#10110 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* feat(autoware_traffic_light_arbiter): added schema and related files for autoware_traffic_light_arbiter (`#10100 `_) +* feat(autoware_traffic_light_arbiter): added schema and related files for autoware_traffic_light_arbiter (`#10100 `_) * Added schema and related files for autoware_traffic_light_arbiter * Added traffic_light_arbiter.schema.json * style(pre-commit): autofix @@ -22,7 +59,7 @@ Changelog for package autoware_traffic_light_arbiter 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -31,7 +68,7 @@ Changelog for package autoware_traffic_light_arbiter 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_traffic_light_arbiter): add current time validation (`#9747 `_) +* feat(autoware_traffic_light_arbiter): add current time validation (`#9747 `_) * add current time validation * style(pre-commit): autofix * change ros parameter name @@ -46,27 +83,27 @@ Changelog for package autoware_traffic_light_arbiter 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -77,13 +114,13 @@ Changelog for package autoware_traffic_light_arbiter 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -94,9 +131,9 @@ Changelog for package autoware_traffic_light_arbiter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_traffic_light_arbiter): fix build error (`#9186 `_) +* fix(autoware_traffic_light_arbiter): fix build error (`#9186 `_) fix build error -* test(autoware_traffic_light_arbiter): add node test (`#8747 `_) +* test(autoware_traffic_light_arbiter): add node test (`#8747 `_) * add test dir * update test node * style(pre-commit): autofix @@ -106,9 +143,9 @@ Changelog for package autoware_traffic_light_arbiter * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(traffic_light_arbiter): missing name changes (`#8278 `_) +* chore(traffic_light_arbiter): missing name changes (`#8278 `_) chore: missing name changes -* refactor: traffic light arbiter/autoware prefix (`#8181 `_) +* refactor: traffic light arbiter/autoware prefix (`#8181 `_) * refactor(traffic_light_arbiter): apply `autoware` namespace to traffic_light_arbiter * refactor(traffic_light_arbiter): update the package name in CODEWONER * style(pre-commit): autofix diff --git a/perception/autoware_traffic_light_arbiter/CMakeLists.txt b/perception/autoware_traffic_light_arbiter/CMakeLists.txt index 503312b17d6dd..49463485add95 100644 --- a/perception/autoware_traffic_light_arbiter/CMakeLists.txt +++ b/perception/autoware_traffic_light_arbiter/CMakeLists.txt @@ -9,8 +9,9 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/signal_match_validator.cpp ) -rclcpp_components_register_nodes(${PROJECT_NAME} - "autoware::TrafficLightArbiter" +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::TrafficLightArbiter" + EXECUTABLE traffic_light_arbiter_node ) if(BUILD_TESTING) diff --git a/perception/autoware_traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml b/perception/autoware_traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml index 8e2b9e8cf02d3..cedd1d2d44538 100644 --- a/perception/autoware_traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml +++ b/perception/autoware_traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml @@ -2,16 +2,13 @@ - + - - - - - - - - - - + + + + + + + diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml index cfb3271f6ccfd..6d7fc4a4710c3 100644 --- a/perception/autoware_traffic_light_arbiter/package.xml +++ b/perception/autoware_traffic_light_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_arbiter - 0.42.0 + 0.43.0 The autoware_traffic_light_arbiter package Kenzo Lobos-Tsunekawa Masato Saeki diff --git a/perception/autoware_traffic_light_category_merger/CHANGELOG.rst b/perception/autoware_traffic_light_category_merger/CHANGELOG.rst index 24e5c176478f7..5a6e995bd16db 100644 --- a/perception/autoware_traffic_light_category_merger/CHANGELOG.rst +++ b/perception/autoware_traffic_light_category_merger/CHANGELOG.rst @@ -2,13 +2,19 @@ Changelog for package autoware_traffic_light_category_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * fix: fix version * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix(autoware_traffic_light_category_merger): add missing dependency to autoware_universe_utils (`#10175 `_) -* feat(traffic_light_category_merger): add new traffic_light_category_merger package (`#9748 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix(autoware_traffic_light_category_merger): add missing dependency to autoware_universe_utils (`#10175 `_) +* feat(traffic_light_category_merger): add new traffic_light_category_merger package (`#9748 `_) * feat: init traffic light signal merger * fix: add tl merger launch * fix: cmake lt merger @@ -36,9 +42,9 @@ Changelog for package autoware_traffic_light_category_merger * fix: fix version * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix(autoware_traffic_light_category_merger): add missing dependency to autoware_universe_utils (`#10175 `_) -* feat(traffic_light_category_merger): add new traffic_light_category_merger package (`#9748 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix(autoware_traffic_light_category_merger): add missing dependency to autoware_universe_utils (`#10175 `_) +* feat(traffic_light_category_merger): add new traffic_light_category_merger package (`#9748 `_) * feat: init traffic light signal merger * fix: add tl merger launch * fix: cmake lt merger diff --git a/perception/autoware_traffic_light_category_merger/package.xml b/perception/autoware_traffic_light_category_merger/package.xml index 2b12da16a7af8..b324a47e653c8 100644 --- a/perception/autoware_traffic_light_category_merger/package.xml +++ b/perception/autoware_traffic_light_category_merger/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_category_merger - 0.42.0 + 0.43.0 The ROS 2 autoware_traffic_light_category_merger package Yoshi Ri Masato Saeki diff --git a/perception/autoware_traffic_light_classifier/CHANGELOG.rst b/perception/autoware_traffic_light_classifier/CHANGELOG.rst index d2f1a21d13be2..ef18abb07125c 100644 --- a/perception/autoware_traffic_light_classifier/CHANGELOG.rst +++ b/perception/autoware_traffic_light_classifier/CHANGELOG.rst @@ -2,14 +2,54 @@ Changelog for package autoware_traffic_light_classifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat(traffic_light_classifier): update diagnostics when harsh backlight is detected (`#10218 `_) + feat: update diagnostics when harsh backlight is detected +* chore(perception): refactor perception launch (`#10186 `_) + * fundamental change + * style(pre-commit): autofix + * fix typo + * fix params and modify some packages + * pre-commit + * fix + * fix spell check + * fix typo + * integrate model and label path + * style(pre-commit): autofix + * for pre-commit + * run pre-commit + * for awsim + * for simulatior + * style(pre-commit): autofix + * fix grammer in launcher + * add schema for yolox_tlr + * style(pre-commit): autofix + * fix file name + * fix + * rename + * modify arg name to + * fix typo + * change param name + * style(pre-commit): autofix + * chore + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Kotaro Uetake, Masato Saeki, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore: refine maintainer list (`#10110 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* feat(autoware_traffic_light_classifier): add traffic light classifier schema, README and car and ped launcher (`#10048 `_) +* feat(autoware_traffic_light_classifier): add traffic light classifier schema, README and car and ped launcher (`#10048 `_) * feat(autoware_traffic_light_classifier):Add traffic light classifier schema and README * add individual launcher * style(pre-commit): autofix @@ -28,7 +68,7 @@ Changelog for package autoware_traffic_light_classifier 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -37,13 +77,13 @@ Changelog for package autoware_traffic_light_classifier 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(autoware_traffic_light_classifier): modify docs (`#9819 `_) +* chore(autoware_traffic_light_classifier): modify docs (`#9819 `_) * modify docs * style(pre-commit): autofix * fix docs --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components * style(pre-commit): autofix * style(autoware_tensorrt_common): linting @@ -76,58 +116,58 @@ Changelog for package autoware_traffic_light_classifier 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(autoware_traffic_light_classifier): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9497 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_traffic_light_classifier): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9497 `_) fix: clang-diagnostic-delete-abstract-non-virtual-dtor * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) * Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -135,11 +175,11 @@ Changelog for package autoware_traffic_light_classifier --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(traffic_light_classifier): fix traffic light monitor warning (`#8412 `_) +* fix(traffic_light_classifier): fix traffic light monitor warning (`#8412 `_) fix traffic light monitor warning -* fix(autoware_traffic_light_classifier): fix passedByValue (`#8392 `_) +* fix(autoware_traffic_light_classifier): fix passedByValue (`#8392 `_) fix:passedByValue -* fix(traffic_light_classifier): fix zero size roi bug (`#7608 `_) +* fix(traffic_light_classifier): fix zero size roi bug (`#7608 `_) * fix: continue to process when input roi size is zero * fix: consider when roi size is zero, rois is empty fix @@ -149,11 +189,11 @@ Changelog for package autoware_traffic_light_classifier * chore: refactor code to handle empty input ROIs in traffic_light_classifier_node.cpp * refactor: using index instead of vector length --------- -* fix(traffic_light_classifier): fix funcArgNamesDifferent (`#8153 `_) +* fix(traffic_light_classifier): fix funcArgNamesDifferent (`#8153 `_) * fix:funcArgNamesDifferent * fix:clang format --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_classifier/config/car_traffic_light_classifier.param.yaml b/perception/autoware_traffic_light_classifier/config/car_traffic_light_classifier.param.yaml index 41edea094b817..83f2ae4f748c1 100644 --- a/perception/autoware_traffic_light_classifier/config/car_traffic_light_classifier.param.yaml +++ b/perception/autoware_traffic_light_classifier/config/car_traffic_light_classifier.param.yaml @@ -1,11 +1,9 @@ /**: ros__parameters: approximate_sync: false - classifier_label_path: "$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_label_name)" - classifier_model_path: "$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_model_name).onnx" - classifier_precision: fp16 - classifier_mean: [123.675, 116.28, 103.53] - classifier_std: [58.395, 57.12, 57.375] + precision: fp16 + mean: [123.675, 116.28, 103.53] + std: [58.395, 57.12, 57.375] backlight_threshold: 0.85 classifier_type: 1 - classify_traffic_light_type: 0 + traffic_light_type: 0 diff --git a/perception/autoware_traffic_light_classifier/config/pedestrian_traffic_light_classifier.param.yaml b/perception/autoware_traffic_light_classifier/config/pedestrian_traffic_light_classifier.param.yaml index 4c73babfe5418..ef384814b3ee4 100644 --- a/perception/autoware_traffic_light_classifier/config/pedestrian_traffic_light_classifier.param.yaml +++ b/perception/autoware_traffic_light_classifier/config/pedestrian_traffic_light_classifier.param.yaml @@ -1,11 +1,9 @@ /**: ros__parameters: approximate_sync: false - classifier_label_path: "$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_label_name)" - classifier_model_path: "$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_model_name).onnx" - classifier_precision: fp16 - classifier_mean: [123.675, 116.28, 103.53] - classifier_std: [58.395, 57.12, 57.375] + precision: fp16 + mean: [123.675, 116.28, 103.53] + std: [58.395, 57.12, 57.375] backlight_threshold: 0.85 classifier_type: 1 - classify_traffic_light_type: 1 + traffic_light_type: 1 diff --git a/perception/autoware_traffic_light_classifier/launch/car_traffic_light_classifier.launch.xml b/perception/autoware_traffic_light_classifier/launch/car_traffic_light_classifier.launch.xml index 41a6924bf22ba..c1820f26ab340 100644 --- a/perception/autoware_traffic_light_classifier/launch/car_traffic_light_classifier.launch.xml +++ b/perception/autoware_traffic_light_classifier/launch/car_traffic_light_classifier.launch.xml @@ -1,19 +1,21 @@ + + - - - - - + + + - + + + diff --git a/perception/autoware_traffic_light_classifier/launch/pedestrian_traffic_light_classifier.launch.xml b/perception/autoware_traffic_light_classifier/launch/pedestrian_traffic_light_classifier.launch.xml index 18569aeffdd1c..34d4485c5c0dd 100644 --- a/perception/autoware_traffic_light_classifier/launch/pedestrian_traffic_light_classifier.launch.xml +++ b/perception/autoware_traffic_light_classifier/launch/pedestrian_traffic_light_classifier.launch.xml @@ -1,23 +1,21 @@ + + - - - - - + + + - + + + diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index d9c014f717d41..1315d068e4431 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_classifier - 0.42.0 + 0.43.0 The autoware_traffic_light_classifier package Yukihiro Saito Yoshi Ri @@ -15,9 +15,11 @@ autoware_cmake + autoware_cuda_dependency_meta autoware_cuda_utils autoware_tensorrt_classifier autoware_tensorrt_common + autoware_utils cv_bridge image_transport libboost-filesystem-dev diff --git a/perception/autoware_traffic_light_classifier/schema/car_traffic_light_classifier.schema.json b/perception/autoware_traffic_light_classifier/schema/car_traffic_light_classifier.schema.json index 62504836f6af3..830e664ee707c 100644 --- a/perception/autoware_traffic_light_classifier/schema/car_traffic_light_classifier.schema.json +++ b/perception/autoware_traffic_light_classifier/schema/car_traffic_light_classifier.schema.json @@ -11,22 +11,12 @@ "description": "Enable or disable approximate synchronization.", "default": false }, - "classifier_label_path": { - "type": "string", - "description": "Path to the label file for the traffic light classifier.", - "default": "$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_label_name)" - }, - "classifier_model_path": { - "type": "string", - "description": "Path to the ONNX model file for the traffic light classifier.", - "default": "$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_model_name).onnx" - }, - "classifier_precision": { + "precision": { "type": "string", "description": "Precision used for traffic light classifier inference. Valid values: [fp32, fp16, int8].", "default": "fp16" }, - "classifier_mean": { + "mean": { "type": "array", "description": "Mean values used for input normalization [R, G, B].", "items": { @@ -34,7 +24,7 @@ }, "default": [123.675, 116.28, 103.53] }, - "classifier_std": { + "std": { "type": "array", "description": "Standard deviation values used for input normalization [R, G, B].", "items": { @@ -52,7 +42,7 @@ "description": "Type of classifier used. {0: hsv_filter, 1: cnn}.", "default": 1 }, - "classify_traffic_light_type": { + "traffic_light_type": { "type": "integer", "description": "Type of traffic light to classify. {0: car, 1: pedestrian}.", "default": 0 @@ -60,14 +50,12 @@ }, "required": [ "approximate_sync", - "classifier_label_path", - "classifier_model_path", - "classifier_precision", - "classifier_mean", - "classifier_std", + "precision", + "mean", + "std", "backlight_threshold", "classifier_type", - "classify_traffic_light_type" + "traffic_light_type" ], "additionalProperties": false } diff --git a/perception/autoware_traffic_light_classifier/schema/pedestrian_traffic_light_classifier.schema.json b/perception/autoware_traffic_light_classifier/schema/pedestrian_traffic_light_classifier.schema.json index d033afe77e7f7..a4c7abf3b1fab 100644 --- a/perception/autoware_traffic_light_classifier/schema/pedestrian_traffic_light_classifier.schema.json +++ b/perception/autoware_traffic_light_classifier/schema/pedestrian_traffic_light_classifier.schema.json @@ -11,22 +11,12 @@ "description": "Enable or disable approximate synchronization.", "default": false }, - "classifier_label_path": { - "type": "string", - "description": "Path to the label file for the traffic light classifier.", - "default": "$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_label_name)" - }, - "classifier_model_path": { - "type": "string", - "description": "Path to the ONNX model file for the traffic light classifier.", - "default": "$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_model_name).onnx" - }, - "classifier_precision": { + "precision": { "type": "string", "description": "Precision used for traffic light classifier inference. Valid values: [fp32, fp16, int8].", "default": "fp16" }, - "classifier_mean": { + "mean": { "type": "array", "description": "Mean values used for input normalization [R, G, B].", "items": { @@ -34,7 +24,7 @@ }, "default": [123.675, 116.28, 103.53] }, - "classifier_std": { + "std": { "type": "array", "description": "Standard deviation values used for input normalization [R, G, B].", "items": { @@ -52,7 +42,7 @@ "description": "Type of classifier used. {0: hsv_filter, 1: cnn}.", "default": 1 }, - "classify_traffic_light_type": { + "traffic_light_type": { "type": "integer", "description": "Type of traffic light to classify. {0: car, 1: pedestrian}.", "default": 1 @@ -60,14 +50,12 @@ }, "required": [ "approximate_sync", - "classifier_label_path", - "classifier_model_path", - "classifier_precision", - "classifier_mean", - "classifier_std", + "precision", + "mean", + "std", "backlight_threshold", "classifier_type", - "classify_traffic_light_type" + "traffic_light_type" ], "additionalProperties": false } diff --git a/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp b/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp index 8dd2e2e51f2fb..fcb2818242315 100644 --- a/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp +++ b/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp @@ -34,17 +34,17 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) std::string precision; std::string label_file_path; std::string model_file_path; - precision = node_ptr_->declare_parameter("classifier_precision"); - label_file_path = node_ptr_->declare_parameter("classifier_label_path"); - model_file_path = node_ptr_->declare_parameter("classifier_model_path"); + precision = node_ptr_->declare_parameter("precision"); + label_file_path = node_ptr_->declare_parameter("label_path"); + model_file_path = node_ptr_->declare_parameter("model_path"); // ros param does not support loading std::vector // we have to load std::vector and transfer to std::vector - auto mean_d = node_ptr->declare_parameter>("classifier_mean"); - auto std_d = node_ptr->declare_parameter>("classifier_std"); + auto mean_d = node_ptr->declare_parameter>("mean"); + auto std_d = node_ptr->declare_parameter>("std"); mean_ = std::vector(mean_d.begin(), mean_d.end()); std_ = std::vector(std_d.begin(), std_d.end()); if (mean_.size() != 3 || std_.size() != 3) { - RCLCPP_ERROR(node_ptr->get_logger(), "classifier_mean and classifier_std must be of size 3"); + RCLCPP_ERROR(node_ptr->get_logger(), "mean and std must be of size 3"); return; } diff --git a/perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp b/perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp index 4b03d083a271a..0f573ef2f2ca6 100644 --- a/perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp +++ b/perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include "traffic_light_classifier_node.hpp" +#include #include #include @@ -25,7 +26,7 @@ namespace autoware::traffic_light TrafficLightClassifierNodelet::TrafficLightClassifierNodelet(const rclcpp::NodeOptions & options) : Node("traffic_light_classifier_node", options) { - classify_traffic_light_type_ = this->declare_parameter("classify_traffic_light_type"); + classify_traffic_light_type_ = this->declare_parameter("traffic_light_type"); using std::placeholders::_1; using std::placeholders::_2; @@ -60,6 +61,9 @@ TrafficLightClassifierNodelet::TrafficLightClassifierNodelet(const rclcpp::NodeO this->get_logger(), "please install CUDA, CUDNN and TensorRT to use cnn classifier"); #endif } + + diagnostics_interface_ptr_ = + std::make_unique(this, "traffic_light_classifier"); } void TrafficLightClassifierNodelet::connectCb() @@ -165,6 +169,17 @@ void TrafficLightClassifierNodelet::imageRoiCallback( output_msg.header = input_image_msg->header; traffic_signal_array_pub_->publish(output_msg); + + // publish diagnostics + diagnostics_interface_ptr_->clear(); + bool found_harsh_backlight = backlight_indices.size() != 0; + diagnostics_interface_ptr_->add_key_value("found_harsh_backlight", found_harsh_backlight); + if (found_harsh_backlight) { + diagnostics_interface_ptr_->update_level_and_message( + diagnostic_msgs::msg::DiagnosticStatus::WARN, + "Found harsh backlight in ROI(s) and corresponding ROI(s) were overwritten by UNKNOWN"); + } + diagnostics_interface_ptr_->publish(output_msg.header.stamp); } bool TrafficLightClassifierNodelet::is_harsh_backlight(const cv::Mat & img) const diff --git a/perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.hpp b/perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.hpp index d86880744929f..517c8ff3db513 100644 --- a/perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.hpp +++ b/perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.hpp @@ -48,6 +48,7 @@ #include "classifier/color_classifier.hpp" +#include #include #include @@ -89,6 +90,9 @@ class TrafficLightClassifierNodelet : public rclcpp::Node traffic_signal_array_pub_; std::shared_ptr classifier_ptr_; + std::unique_ptr + diagnostics_interface_ptr_; //!< Diagnostic handler. + double backlight_threshold_; bool is_harsh_backlight(const cv::Mat & img) const; }; diff --git a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst index 87f795d2d93a3..49c5f7fd66ece 100644 --- a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst @@ -2,14 +2,52 @@ Changelog for package autoware_traffic_light_fine_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* chore(perception): refactor perception launch (`#10186 `_) + * fundamental change + * style(pre-commit): autofix + * fix typo + * fix params and modify some packages + * pre-commit + * fix + * fix spell check + * fix typo + * integrate model and label path + * style(pre-commit): autofix + * for pre-commit + * run pre-commit + * for awsim + * for simulatior + * style(pre-commit): autofix + * fix grammer in launcher + * add schema for yolox_tlr + * style(pre-commit): autofix + * fix file name + * fix + * rename + * modify arg name to + * fix typo + * change param name + * style(pre-commit): autofix + * chore + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor: add autoware_cuda_dependency_meta (`#10073 `_) +* Contributors: Esteve Fernandez, Hayato Mizushima, Masato Saeki, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore: refine maintainer list (`#10110 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* feat(autoware_traffic_light_fine_detector): created the schema file,updated the readme file and deleted the default parameter in node files code (`#10106 `_) +* feat(autoware_traffic_light_fine_detector): created the schema file,updated the readme file and deleted the default parameter in node files code (`#10106 `_) * feat(autoware_traffic_light_fine_detector): Created the schema file, updated the readme file and deleted the default parameter in node files code * style(pre-commit): autofix * fix declare_parameter @@ -26,7 +64,7 @@ Changelog for package autoware_traffic_light_fine_detector 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -35,13 +73,13 @@ Changelog for package autoware_traffic_light_fine_detector 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(traffic_light_fine_detector)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in traffic_light_fine_detector (`#9900 `_) -* chore(autoware_traffic_light_fine_detector): modify docs and related params (`#9818 `_) +* feat(traffic_light_fine_detector)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in traffic_light_fine_detector (`#9900 `_) +* chore(autoware_traffic_light_fine_detector): modify docs and related params (`#9818 `_) * modify readme and related params * fix typo * fix --------- -* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) +* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (`#9762 `_) * refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components * style(pre-commit): autofix * style(autoware_tensorrt_common): linting @@ -74,27 +112,27 @@ Changelog for package autoware_traffic_light_fine_detector 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -105,13 +143,13 @@ Changelog for package autoware_traffic_light_fine_detector 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -122,7 +160,7 @@ Changelog for package autoware_traffic_light_fine_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -130,27 +168,27 @@ Changelog for package autoware_traffic_light_fine_detector --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) +* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) * init CUDA device option Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_traffic_light_fine_detector): fix unusedFunction (`#8583 `_) +* fix(autoware_traffic_light_fine_detector): fix unusedFunction (`#8583 `_) fix:unusedFunction -* fix(autoware_traffic_light_fine_detector): fix passedByValue (`#8237 `_) +* fix(autoware_traffic_light_fine_detector): fix passedByValue (`#8237 `_) fix:passedByValue -* fix(traffic_light_fine_detector): fix funcArgNamesDifferent (`#8154 `_) +* fix(traffic_light_fine_detector): fix funcArgNamesDifferent (`#8154 `_) fix:funcArgNamesDifferent -* fix(autoware_traffic_light_fine_detector): fix constParameterReference (`#8146 `_) +* fix(autoware_traffic_light_fine_detector): fix constParameterReference (`#8146 `_) * fix:constParameterReference * fix:constParameterReference * fix:constParameterReference --------- -* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) * refactor: add autoware namespace prefix to `tensorrt_yolox` * refactor: apply `autoware` namespace to tensorrt_yolox * chore: update CODEOWNERS * fix: resolve `yolox_tiny` to work --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_fine_detector/config/traffic_light_fine_detector.param.yaml b/perception/autoware_traffic_light_fine_detector/config/traffic_light_fine_detector.param.yaml index b647729a27de5..f2dba8209ea84 100644 --- a/perception/autoware_traffic_light_fine_detector/config/traffic_light_fine_detector.param.yaml +++ b/perception/autoware_traffic_light_fine_detector/config/traffic_light_fine_detector.param.yaml @@ -1,9 +1,7 @@ /**: ros__parameters: - fine_detector_label_path: "$(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)" - fine_detector_model_path: "$(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx" - fine_detector_precision: fp16 - fine_detector_score_thresh: 0.3 - fine_detector_nms_thresh: 0.65 + precision: fp16 + score_thresh: 0.3 + nms_thresh: 0.65 approximate_sync: false gpu_id: 0 diff --git a/perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml b/perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml index 4f876311621de..c879547acd8af 100644 --- a/perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml +++ b/perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml @@ -1,17 +1,13 @@ + + - - - - - + + + @@ -19,7 +15,9 @@ - + + + diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml index f861e5aa90d1c..903a523025269 100644 --- a/perception/autoware_traffic_light_fine_detector/package.xml +++ b/perception/autoware_traffic_light_fine_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_fine_detector - 0.42.0 + 0.43.0 The autoware_traffic_light_fine_detector package Tao Zhong Yoshi Ri @@ -14,6 +14,7 @@ autoware_cmake + autoware_cuda_dependency_meta autoware_internal_debug_msgs autoware_tensorrt_yolox cv_bridge diff --git a/perception/autoware_traffic_light_fine_detector/schema/traffic_light_fine_detector.schema.json b/perception/autoware_traffic_light_fine_detector/schema/traffic_light_fine_detector.schema.json index a560b903188be..e1ffbce2edd40 100644 --- a/perception/autoware_traffic_light_fine_detector/schema/traffic_light_fine_detector.schema.json +++ b/perception/autoware_traffic_light_fine_detector/schema/traffic_light_fine_detector.schema.json @@ -6,27 +6,17 @@ "traffic_light_fine_detector": { "type": "object", "properties": { - "fine_detector_label_path": { - "type": "string", - "description": "The label file with label names for detected objects written on it.", - "default": "$(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)" - }, - "fine_detector_model_path": { - "type": "string", - "description": "The ONNX file name for the YOLO model.", - "default": "$(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx" - }, - "fine_detector_precision": { + "precision": { "type": "string", "description": "Precision used for traffic light fine detector inference. Valid values: [fp32, fp16].", "default": "fp16" }, - "fine_detector_score_thresh": { + "score_thresh": { "type": "number", "description": "If the objectness score is less than this value, the object is ignored.", "default": 0.3 }, - "fine_detector_nms_thresh": { + "nms_thresh": { "type": "number", "description": "IoU threshold to perform Non-Maximum Suppression (NMS).", "default": 0.65 @@ -42,15 +32,7 @@ "default": 0 } }, - "required": [ - "fine_detector_label_path", - "fine_detector_model_path", - "fine_detector_precision", - "fine_detector_score_thresh", - "fine_detector_nms_thresh", - "approximate_sync", - "gpu_id" - ], + "required": ["precision", "score_thresh", "nms_thresh", "approximate_sync", "gpu_id"], "additionalProperties": false } }, diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp index e15908e82bb52..3b1dabd12105d 100644 --- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp +++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp @@ -59,17 +59,16 @@ TrafficLightFineDetectorNode::TrafficLightFineDetectorNode(const rclcpp::NodeOpt using std::placeholders::_2; using std::placeholders::_3; - std::string model_path = this->declare_parameter("fine_detector_model_path"); - std::string label_path = this->declare_parameter("fine_detector_label_path"); - std::string precision = this->declare_parameter("fine_detector_precision"); + std::string model_path = this->declare_parameter("model_path"); + std::string label_path = this->declare_parameter("label_path"); + std::string precision = this->declare_parameter("precision"); const uint8_t gpu_id = this->declare_parameter("gpu_id"); // Objects with a score lower than this value will be ignored. // This threshold will be ignored if specified model contains EfficientNMS_TRT module in it - score_thresh_ = this->declare_parameter("fine_detector_score_thresh"); + score_thresh_ = this->declare_parameter("score_thresh"); // Detection results will be ignored if IoU over this value. // This threshold will be ignored if specified model contains EfficientNMS_TRT module in it - float nms_threshold = - static_cast(this->declare_parameter("fine_detector_nms_thresh")); + float nms_threshold = static_cast(this->declare_parameter("nms_thresh")); is_approximate_sync_ = this->declare_parameter("approximate_sync"); if (!readLabelFile(label_path, tlr_label_id_, num_class)) { diff --git a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst index 878e9ad2e663a..29c1648241c15 100644 --- a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_traffic_light_map_based_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* feat(autoware_traffic_light_map_based_detector): created the schema file,updated the readme file and deleted the default parameter in node files code (`#10107 `_) +* feat(autoware_traffic_light_map_based_detector): created the schema file,updated the readme file and deleted the default parameter in node files code (`#10107 `_) * feat(autoware_traffic_light_map_based_detector): Created the schema file,updated the readme file and deleted the default parameter in node files code * style(pre-commit): autofix * move params from launch to param @@ -22,7 +28,7 @@ Changelog for package autoware_traffic_light_map_based_detector 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -31,7 +37,7 @@ Changelog for package autoware_traffic_light_map_based_detector 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(autoware_traffic_light_map_based_detector): modify docs (`#9817 `_) +* chore(autoware_traffic_light_map_based_detector): modify docs (`#9817 `_) * modify docs * fix title * fix docs @@ -44,27 +50,27 @@ Changelog for package autoware_traffic_light_map_based_detector 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -75,13 +81,13 @@ Changelog for package autoware_traffic_light_map_based_detector 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -92,10 +98,10 @@ Changelog for package autoware_traffic_light_map_based_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_traffic_light_map_based_detector): output from screen to both (`#8411 `_) -* fix(traffic_light_map_based_detector): fix funcArgNamesDifferent (`#8155 `_) +* fix(autoware_traffic_light_map_based_detector): output from screen to both (`#8411 `_) +* fix(traffic_light_map_based_detector): fix funcArgNamesDifferent (`#8155 `_) fix:funcArgNamesDifferent -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_map_based_detector/package.xml b/perception/autoware_traffic_light_map_based_detector/package.xml index ffd80eeb2f090..d54838d765759 100644 --- a/perception/autoware_traffic_light_map_based_detector/package.xml +++ b/perception/autoware_traffic_light_map_based_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_map_based_detector - 0.42.0 + 0.43.0 The autoware_traffic_light_map_based_detector package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst index cd1552b24f7dd..33c4ea79c4313 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst +++ b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst @@ -2,14 +2,20 @@ Changelog for package autoware_traffic_light_multi_camera_fusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore: refine maintainer list (`#10110 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* chore(traffic_light_multi_camera_fusion): read parameters from yaml file (`#10144 `_) +* chore(traffic_light_multi_camera_fusion): read parameters from yaml file (`#10144 `_) * chore(traffic_light_multi_camera_fusion): read parameters from yaml file * style(pre-commit): autofix * add all_traffic_light_camera param to launch.xml @@ -19,7 +25,7 @@ Changelog for package autoware_traffic_light_multi_camera_fusion * remove camera_namespaces from required --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_traffic_light_multi_camera_fusion): created Schema file and updated ReadME file for parameters setting (`#9994 `_) +* chore(autoware_traffic_light_multi_camera_fusion): created Schema file and updated ReadME file for parameters setting (`#9994 `_) * feat(autoware_traffic_light_multi_camera_fusion): Created Schema file and updated ReadME file for parameters setting * style(pre-commit): autofix * fix: updated param file , schema and node.cpp file for traffic_light_multi_camera_fusion as per review comments @@ -33,7 +39,7 @@ Changelog for package autoware_traffic_light_multi_camera_fusion 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -42,7 +48,7 @@ Changelog for package autoware_traffic_light_multi_camera_fusion 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(autoware_traffic_light_multi_camera_fusion): modify docs (`#9821 `_) +* chore(autoware_traffic_light_multi_camera_fusion): modify docs (`#9821 `_) * fix docs * add condition --------- @@ -51,31 +57,31 @@ Changelog for package autoware_traffic_light_multi_camera_fusion 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error (`#9336 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error (`#9336 `_) * feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error * add const to argument --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -86,13 +92,13 @@ Changelog for package autoware_traffic_light_multi_camera_fusion 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -103,7 +109,7 @@ Changelog for package autoware_traffic_light_multi_camera_fusion 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml index c85bfd7fd7ac6..c7e68fc3f0d37 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml +++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_multi_camera_fusion - 0.42.0 + 0.43.0 The autoware_traffic_light_multi_camera_fusion package Tao Zhong Masato Saeki diff --git a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst index 8a323d001b49d..8879c81788b97 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst +++ b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_traffic_light_occlusion_predictor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore: refine maintainer list (`#10110 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- -* chore(traffic_light_occlusion_predictor): created Schema file and updated ReadME file for parameters setting and deleted default parameter from the node.cpp file (`#9998 `_) +* chore(traffic_light_occlusion_predictor): created Schema file and updated ReadME file for parameters setting and deleted default parameter from the node.cpp file (`#9998 `_) * feat(traffic_light_occlusion_predictor): Created Schema file and updated ReadME file for parameters setting and deleted default parameter from the node.cpp file * style(pre-commit): autofix * feat: modified the json schema and readme file as per comments @@ -21,7 +27,7 @@ Changelog for package autoware_traffic_light_occlusion_predictor 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -30,7 +36,7 @@ Changelog for package autoware_traffic_light_occlusion_predictor 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(autoware_traffic_light_occlusion_predictor): modify docs (`#9820 `_) +* chore(autoware_traffic_light_occlusion_predictor): modify docs (`#9820 `_) * fix docs * fix docs --------- @@ -39,28 +45,28 @@ Changelog for package autoware_traffic_light_occlusion_predictor 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -71,13 +77,13 @@ Changelog for package autoware_traffic_light_occlusion_predictor 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -88,11 +94,11 @@ Changelog for package autoware_traffic_light_occlusion_predictor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(traffic_light_occlusion_predictor): fix cppcheck warnings of functionStatic (`#8258 `_) +* fix(traffic_light_occlusion_predictor): fix cppcheck warnings of functionStatic (`#8258 `_) fix: deal with functionStatic warnings -* fix(autoware_traffic_light_occlusion_predictor): fix functionConst (`#8286 `_) +* fix(autoware_traffic_light_occlusion_predictor): fix functionConst (`#8286 `_) fix:functionConst -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml index 18fb5b98d6b9f..9f87651a302db 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/package.xml +++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_occlusion_predictor - 0.42.0 + 0.43.0 The autoware_traffic_light_occlusion_predictor package Tao Zhong Masato Saeki diff --git a/perception/autoware_traffic_light_selector/CHANGELOG.rst b/perception/autoware_traffic_light_selector/CHANGELOG.rst index 785ba1538fc58..4c4b3028bf425 100644 --- a/perception/autoware_traffic_light_selector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_selector/CHANGELOG.rst @@ -2,22 +2,28 @@ Changelog for package autoware_traffic_light_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * fix: fix version * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* build(autoware_traffic_light_selector): fix missing sophus dependency (`#10141 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* build(autoware_traffic_light_selector): fix missing sophus dependency (`#10141 `_) * build(autoware_traffic_light_selector): fix missing sophus dependency * fix missing cgal dependency --------- -* fix(autoware_traffic_light_selector): add camera_info into message_filter (`#10089 `_) +* fix(autoware_traffic_light_selector): add camera_info into message_filter (`#10089 `_) * add mutex * change message filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(traffic_light_selector): add new node for traffic light selection (`#9721 `_) +* feat(traffic_light_selector): add new node for traffic light selection (`#9721 `_) * feat: add traffic light selector node feat: add traffic ligth selector node * fix: add check expect roi iou @@ -55,18 +61,18 @@ Changelog for package autoware_traffic_light_selector * fix: fix version * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* build(autoware_traffic_light_selector): fix missing sophus dependency (`#10141 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* build(autoware_traffic_light_selector): fix missing sophus dependency (`#10141 `_) * build(autoware_traffic_light_selector): fix missing sophus dependency * fix missing cgal dependency --------- -* fix(autoware_traffic_light_selector): add camera_info into message_filter (`#10089 `_) +* fix(autoware_traffic_light_selector): add camera_info into message_filter (`#10089 `_) * add mutex * change message filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(traffic_light_selector): add new node for traffic light selection (`#9721 `_) +* feat(traffic_light_selector): add new node for traffic light selection (`#9721 `_) * feat: add traffic light selector node feat: add traffic ligth selector node * fix: add check expect roi iou diff --git a/perception/autoware_traffic_light_selector/package.xml b/perception/autoware_traffic_light_selector/package.xml index 6517e2ebf4ebd..c3e0a1d5cba89 100644 --- a/perception/autoware_traffic_light_selector/package.xml +++ b/perception/autoware_traffic_light_selector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_selector - 0.42.0 + 0.43.0 The ROS 2 autoware_traffic_light_selector package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_traffic_light_visualization/CHANGELOG.rst b/perception/autoware_traffic_light_visualization/CHANGELOG.rst index 1236e90da60eb..b108145c59509 100644 --- a/perception/autoware_traffic_light_visualization/CHANGELOG.rst +++ b/perception/autoware_traffic_light_visualization/CHANGELOG.rst @@ -2,10 +2,47 @@ Changelog for package autoware_traffic_light_visualization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* chore(perception): refactor perception launch (`#10186 `_) + * fundamental change + * style(pre-commit): autofix + * fix typo + * fix params and modify some packages + * pre-commit + * fix + * fix spell check + * fix typo + * integrate model and label path + * style(pre-commit): autofix + * for pre-commit + * run pre-commit + * for awsim + * for simulatior + * style(pre-commit): autofix + * fix grammer in launcher + * add schema for yolox_tlr + * style(pre-commit): autofix + * fix file name + * fix + * rename + * modify arg name to + * fix typo + * change param name + * style(pre-commit): autofix + * chore + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(tier4_perception_launch): add option for new TL detector model (`#9731 `_) +* feat(tier4_perception_launch): add option for new TL detector model (`#9731 `_) * feat: add traffic_light_detector launch fix: tier4 perception launch fix: add multi tlr detector launch @@ -43,7 +80,7 @@ Changelog for package autoware_traffic_light_visualization 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -52,37 +89,37 @@ Changelog for package autoware_traffic_light_visualization 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(autoware_traffic_light_visualization): fix bugprone-branch-clone (`#9668 `_) +* fix(autoware_traffic_light_visualization): fix bugprone-branch-clone (`#9668 `_) fix: bugprone-error * Contributors: Fumiya Watanabe, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) -* fix(traffic_light_roi_visualizer): show unknown results correctly (`#9467 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(traffic_light_roi_visualizer): show unknown results correctly (`#9467 `_) fix: show unknown results correctly * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light_visualization): include opencv as system (`#9331 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light_visualization): include opencv as system (`#9331 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -93,13 +130,13 @@ Changelog for package autoware_traffic_light_visualization 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_traffic_light*): add maintainer (`#9280 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) * add fundamental commit * add forgot package --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -110,26 +147,26 @@ Changelog for package autoware_traffic_light_visualization 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fix documentation for traffic light visualization (`#8303 `_) +* fix(docs): fix documentation for traffic light visualization (`#8303 `_) fix docs traffic light visualization -* fix(autoware_traffic_light_visualization): fix to visualize correct color and shapes (`#8428 `_) +* fix(autoware_traffic_light_visualization): fix to visualize correct color and shapes (`#8428 `_) fix(autoware_traffic_light_visualization): fix vialization to draw correct shapes Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> -* fix(traffic_light_visualization): fix funcArgNamesDifferent (`#8156 `_) +* fix(traffic_light_visualization): fix funcArgNamesDifferent (`#8156 `_) fix:funcArgNamesDifferent -* fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs (`#8294 `_) +* fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs (`#8294 `_) * fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs * fix precommit * fix --------- -* fix(autoware_traffic_light_visualization): fix passedByValue (`#8241 `_) +* fix(autoware_traffic_light_visualization): fix passedByValue (`#8241 `_) fix:passedByValue -* feat(traffic_light_roi_visualizer): add an option to use normal publisher instead of image tranport in traffic light roi visualizer (`#8157 `_) +* feat(traffic_light_roi_visualizer): add an option to use normal publisher instead of image tranport in traffic light roi visualizer (`#8157 `_) * apply new parameter schemes, set default parameters add an option to use normal publisher instead of image tranport in traffic light roi visualizer * small fix on default value --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_visualization/config/traffic_light_visualization.param.yaml b/perception/autoware_traffic_light_visualization/config/traffic_light_roi_visualizer.param.yaml similarity index 66% rename from perception/autoware_traffic_light_visualization/config/traffic_light_visualization.param.yaml rename to perception/autoware_traffic_light_visualization/config/traffic_light_roi_visualizer.param.yaml index 4ad0faacc325f..9f810b0d2e09f 100644 --- a/perception/autoware_traffic_light_visualization/config/traffic_light_visualization.param.yaml +++ b/perception/autoware_traffic_light_visualization/config/traffic_light_roi_visualizer.param.yaml @@ -1,4 +1,3 @@ /**: ros__parameters: - use_ml_detector: false use_image_transport: true diff --git a/perception/autoware_traffic_light_visualization/launch/traffic_light_roi_visualizer.launch.xml b/perception/autoware_traffic_light_visualization/launch/traffic_light_roi_visualizer.launch.xml index a6a09576532c4..1f64a7f857262 100644 --- a/perception/autoware_traffic_light_visualization/launch/traffic_light_roi_visualizer.launch.xml +++ b/perception/autoware_traffic_light_visualization/launch/traffic_light_roi_visualizer.launch.xml @@ -4,7 +4,7 @@ - + @@ -13,7 +13,7 @@ - + diff --git a/perception/autoware_traffic_light_visualization/package.xml b/perception/autoware_traffic_light_visualization/package.xml index dd7053e3684ab..eb24d3901a918 100644 --- a/perception/autoware_traffic_light_visualization/package.xml +++ b/perception/autoware_traffic_light_visualization/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_visualization - 0.42.0 + 0.43.0 The autoware_traffic_light_visualization package Yukihiro Saito Tao Zhong diff --git a/perception/autoware_traffic_light_visualization/schema/traffic_light_visualization.schema.json b/perception/autoware_traffic_light_visualization/schema/traffic_light_roi_visualizer.schema.json similarity index 59% rename from perception/autoware_traffic_light_visualization/schema/traffic_light_visualization.schema.json rename to perception/autoware_traffic_light_visualization/schema/traffic_light_roi_visualizer.schema.json index ee1ec952242ef..e433f78d4de54 100644 --- a/perception/autoware_traffic_light_visualization/schema/traffic_light_visualization.schema.json +++ b/perception/autoware_traffic_light_visualization/schema/traffic_light_roi_visualizer.schema.json @@ -1,23 +1,18 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "title": "Parameters for traffic_light_visualization", + "title": "Parameters for traffic_light_roi_visualizer", "type": "object", "definitions": { - "traffic_light_visualization": { + "traffic_light_roi_visualizer": { "type": "object", "properties": { - "use_ml_detector": { - "type": "boolean", - "description": "whether to visualize result of the traffic light fine detection", - "default": "false" - }, "use_image_transport": { "type": "boolean", "description": "whether to apply image transport to compress the output debugging image in the traffic light fine detection", "default": "true" } }, - "required": ["use_ml_detector", "use_image_transport"] + "required": ["use_image_transport"] } }, "properties": { @@ -25,7 +20,7 @@ "type": "object", "properties": { "ros__parameters": { - "$ref": "#/definitions/traffic_light_visualization" + "$ref": "#/definitions/traffic_light_roi_visualizer" } }, "required": ["ros__parameters"] diff --git a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp index cdde10675bd44..7534d12acd745 100644 --- a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp +++ b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp @@ -30,10 +30,10 @@ TrafficLightRoiVisualizerNode::TrafficLightRoiVisualizerNode(const rclcpp::NodeO using std::placeholders::_2; using std::placeholders::_3; using std::placeholders::_4; - use_ml_detector_ = this->declare_parameter("use_ml_detector"); + use_high_accuracy_detection_ = this->declare_parameter("use_high_accuracy_detection"); use_image_transport_ = this->declare_parameter("use_image_transport"); - if (use_ml_detector_) { + if (use_high_accuracy_detection_) { sync_with_rough_roi_.reset(new SyncWithRoughRoi( SyncPolicyWithRoughRoi(10), image_sub_, roi_sub_, rough_roi_sub_, traffic_signals_sub_)); sync_with_rough_roi_->registerCallback( @@ -69,7 +69,7 @@ void TrafficLightRoiVisualizerNode::connectCb() image_sub_.unsubscribe(); traffic_signals_sub_.unsubscribe(); roi_sub_.unsubscribe(); - if (use_ml_detector_) { + if (use_high_accuracy_detection_) { rough_roi_sub_.unsubscribe(); } } else if (!image_sub_.getSubscriber()) { @@ -77,7 +77,7 @@ void TrafficLightRoiVisualizerNode::connectCb() roi_sub_.subscribe(this, "~/input/rois", rclcpp::QoS{1}.get_rmw_qos_profile()); traffic_signals_sub_.subscribe( this, "~/input/traffic_signals", rclcpp::QoS{1}.get_rmw_qos_profile()); - if (use_ml_detector_) { + if (use_high_accuracy_detection_) { rough_roi_sub_.subscribe(this, "~/input/rough/rois", rclcpp::QoS{1}.get_rmw_qos_profile()); } } diff --git a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.hpp b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.hpp index b8d8023502555..319edd92788d7 100644 --- a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.hpp +++ b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.hpp @@ -180,7 +180,7 @@ class TrafficLightRoiVisualizerNode : public rclcpp::Node typedef message_filters::Synchronizer SyncWithRoughRoi; std::shared_ptr sync_with_rough_roi_; - bool use_ml_detector_; + bool use_high_accuracy_detection_; bool use_image_transport_; }; diff --git a/perception/perception_utils/CHANGELOG.rst b/perception/perception_utils/CHANGELOG.rst index 6c1b8a7154473..cb090f5aca5eb 100644 --- a/perception/perception_utils/CHANGELOG.rst +++ b/perception/perception_utils/CHANGELOG.rst @@ -2,10 +2,16 @@ Changelog for package perception_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore: refine maintainer list (`#10110 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -13,7 +19,7 @@ Changelog for package perception_utils 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -25,23 +31,23 @@ Changelog for package perception_utils 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - perception (`#9569 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(perception_utils): install include directory (`#9354 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(perception_utils): install include directory (`#9354 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -51,9 +57,9 @@ Changelog for package perception_utils 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -64,8 +70,8 @@ Changelog for package perception_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(perception_utils): add unit test (`#8414 `_) -* feat(perception_utils)!: move perception_utils from common to perception folder (`#8748 `_) +* chore(perception_utils): add unit test (`#8414 `_) +* feat(perception_utils)!: move perception_utils from common to perception folder (`#8748 `_) feat: move perception utils which is only used in perception Co-authored-by: yoshiri * Contributors: Shintaro Tomie, Yutaka Kondo, badai nguyen diff --git a/perception/perception_utils/package.xml b/perception/perception_utils/package.xml index 670d2f8231767..ef2ec8fcf18ff 100644 --- a/perception/perception_utils/package.xml +++ b/perception/perception_utils/package.xml @@ -2,7 +2,7 @@ perception_utils - 0.42.0 + 0.43.0 The perception_utils package Yoshi Ri Taekjin Lee diff --git a/planning/README.md b/planning/README.md index 3fadafe54ed4c..5adec0808f03b 100644 --- a/planning/README.md +++ b/planning/README.md @@ -2,11 +2,11 @@ ## Getting Started -The Autoware.Universe Planning Modules represent a cutting-edge component within the broader open-source autonomous driving software stack. These modules play a pivotal role in autonomous vehicle navigation, skillfully handling route planning, dynamic obstacle avoidance, and real-time adaptation to varied traffic conditions. +The Autoware Universe Planning Modules represent a cutting-edge component within the broader open-source autonomous driving software stack. These modules play a pivotal role in autonomous vehicle navigation, skillfully handling route planning, dynamic obstacle avoidance, and real-time adaptation to varied traffic conditions. - For high level concept of Planning Components, please refer to [Planning Component Design Document](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/) - To understand how Planning Components interacts with other components, please refer to [Planning Component Interface Document](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/planning/) -- The [Node Diagram](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/node-diagram/) illustrates the interactions, inputs, and outputs of all modules in the Autoware.Universe, including planning modules. +- The [Node Diagram](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/node-diagram/) illustrates the interactions, inputs, and outputs of all modules in the Autoware Universe, including planning modules. ## Planning Module @@ -27,7 +27,7 @@ The `default_preset.yaml` file acts as the primary configuration file, where pla Click [here](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/preset/default_preset.yaml) to view the `default_preset.yaml`. -The [launch files](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_planning_launch/launch/scenario_planning/lane_driving) reference the settings defined in `default_preset.yaml` to apply the configurations when the behavior path planner's node is running. For instance, the parameter `avoidance.enable_module` in +The [launch files](https://github.com/autowarefoundation/autoware_universe/tree/main/launch/tier4_planning_launch/launch/scenario_planning/lane_driving) reference the settings defined in `default_preset.yaml` to apply the configurations when the behavior path planner's node is running. For instance, the parameter `avoidance.enable_module` in ```xml @@ -51,7 +51,7 @@ This guide outlines the steps for integrating your custom module into Autoware: default: "true" ``` -- Incorporate your modules into the [launcher](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_planning_launch/launch/scenario_planning). For example, in [behavior_planning.launch.xml](https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml): +- Incorporate your modules into the [launcher](https://github.com/autowarefoundation/autoware_universe/tree/main/launch/tier4_planning_launch/launch/scenario_planning). For example, in [behavior_planning.launch.xml](https://github.com/autowarefoundation/autoware_universe/blob/main/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml): ```xml @@ -70,7 +70,7 @@ This guide outlines the steps for integrating your custom module into Autoware: ``` -- Define your parameter path variable within the corresponding launcher. For example, in [behavior_planning.launch.xml](https://github.com/autowarefoundation/autoware.universe/blob/04aa54bf5fb0c88e70198ca74b9ac343cc3457bf/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml#L191) +- Define your parameter path variable within the corresponding launcher. For example, in [behavior_planning.launch.xml](https://github.com/autowarefoundation/autoware_universe/blob/04aa54bf5fb0c88e70198ca74b9ac343cc3457bf/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml#L191) ```xml diff --git a/planning/autoware_costmap_generator/CHANGELOG.rst b/planning/autoware_costmap_generator/CHANGELOG.rst index b3211c84cd36c..f69b87fecac35 100644 --- a/planning/autoware_costmap_generator/CHANGELOG.rst +++ b/planning/autoware_costmap_generator/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_costmap_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (`#10180 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (`#10180 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,41 +26,41 @@ Changelog for package autoware_costmap_generator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_costmap_generator): tier4_debug_msgs changed to autoware_internal-debug_msgs in autoware_costmap_generator (`#9901 `_) +* feat(autoware_costmap_generator): tier4_debug_msgs changed to autoware_internal-debug_msgs in autoware_costmap_generator (`#9901 `_) feat: tier4_debug_msgs changed to autoware_internal-debug_msgs in files planning/autoware_costmap_generator -* fix(autoware_costmap_generator): fix bugprone-branch-clone (`#9669 `_) +* fix(autoware_costmap_generator): fix bugprone-branch-clone (`#9669 `_) fix: bugprone-error -* chore(autoware_costmap_generator): suppress Could not find a connection between 'map' and 'base_link' (`#9655 `_) +* chore(autoware_costmap_generator): suppress Could not find a connection between 'map' and 'base_link' (`#9655 `_) * Contributors: Fumiya Watanabe, Vishal Chauhan, Yukinari Hisaki, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* feat(costmap_generator, scenario_selector): improve freespace planning stability (`#9579 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(costmap_generator, scenario_selector): improve freespace planning stability (`#9579 `_) * discretize updating grid center position by size of grid resolution * modify logic for switching to lane driving in scenario selector * fix spelling --------- -* fix(cpplint): include what you use - planning (`#9570 `_) -* refactor: correct spelling (`#9528 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_costmap_generator): fix clang-diagnostic-unused-private-field (`#9395 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_costmap_generator): fix clang-diagnostic-unused-private-field (`#9395 `_) fix: clang-diagnostic-unused-private-field -* fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) -* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) +* fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) * modify costmap generator directory structure * rename class CostmapGenerator to CostmapGeneratorNode * unit test for object_map_utils @@ -69,8 +75,8 @@ Changelog for package autoware_costmap_generator Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -81,9 +87,9 @@ Changelog for package autoware_costmap_generator 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) -* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) * modify costmap generator directory structure * rename class CostmapGenerator to CostmapGeneratorNode * unit test for object_map_utils @@ -98,8 +104,8 @@ Changelog for package autoware_costmap_generator Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -110,32 +116,32 @@ Changelog for package autoware_costmap_generator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(costmap_generator): fix include for grid_map_utils (`#9179 `_) -* perf(costmap_generator): manual blurring and fill polygons without OpenCV (`#9160 `_) -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* fix(costmap_generator): fix include for grid_map_utils (`#9179 `_) +* perf(costmap_generator): manual blurring and fill polygons without OpenCV (`#9160 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* perf(costmap_generator): prevent long transform lookup and add timekeeper (`#8886 `_) -* feat(costmap_generator): integrate generate_parameter_library (`#8827 `_) +* perf(costmap_generator): prevent long transform lookup and add timekeeper (`#8886 `_) +* feat(costmap_generator): integrate generate_parameter_library (`#8827 `_) * add parameter description * use parameter listener * append global identifier * suppress deprecated error * fix parameter type --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(autoware_costmap_generator): fix unusedFunction (`#8641 `_) +* fix(autoware_costmap_generator): fix unusedFunction (`#8641 `_) fix:unusedFunction -* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) +* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) refactor(costmap_generator): add autoware prefix * Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Maxime CLEMENT, Mitsuhiro Sakamoto, Yutaka Kondo, Zhe Shen, kobayu858 diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml index ed0ab570ec2c8..136a2edef502e 100644 --- a/planning/autoware_costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -2,7 +2,7 @@ autoware_costmap_generator - 0.42.0 + 0.43.0 The autoware_costmap_generator package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst index 9413e526e9b84..2715ad225970e 100644 --- a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst +++ b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst @@ -2,12 +2,19 @@ Changelog for package autoware_external_velocity_limit_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* Contributors: Hayato Mizushima, Ryohsuke Mitsudome, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,26 +23,26 @@ Changelog for package autoware_external_velocity_limit_selector 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9902 `_) +* feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (`#9902 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_external_velocity_limit_selector -* test(external_velocity_limit_selector): add node test (`#8944 `_) +* test(external_velocity_limit_selector): add node test (`#8944 `_) add node smoke test * Contributors: Fumiya Watanabe, Maxime CLEMENT, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 `_) * change max acceleration and max jerk according to external velocity request * modify external velocity limit selector * fix external velocity limit selector @@ -43,9 +50,9 @@ Changelog for package autoware_external_velocity_limit_selector --------- * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -55,9 +62,9 @@ Changelog for package autoware_external_velocity_limit_selector 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -68,12 +75,12 @@ Changelog for package autoware_external_velocity_limit_selector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(external_velocity_limit_selector): integrate generate_parameter_library (`#8770 `_) +* feat(external_velocity_limit_selector): integrate generate_parameter_library (`#8770 `_) * add parameter description * use parameter listener --------- -* feat(external_velocity_limit_selector): rename to include/autoware/{package_name} (`#7516 `_) -* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) +* feat(external_velocity_limit_selector): rename to include/autoware/{package_name} (`#7516 `_) +* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) chore(autoware_external_velocity_limit_selector): rename * Contributors: Mitsuhiro Sakamoto, Satoshi OTA, Takayuki Murooka, Yutaka Kondo diff --git a/planning/autoware_external_velocity_limit_selector/README.md b/planning/autoware_external_velocity_limit_selector/README.md index 92579bfd0abce..15c3582c22550 100644 --- a/planning/autoware_external_velocity_limit_selector/README.md +++ b/planning/autoware_external_velocity_limit_selector/README.md @@ -37,17 +37,17 @@ Example: ## Inputs -| Name | Type | Description | -| --------------------------------------------------- | ---------------------------------------------- | --------------------------------------------- | -| `~input/velocity_limit_from_api` | tier4_planning_msgs::VelocityLimit | velocity limit from api | -| `~input/velocity_limit_from_internal` | tier4_planning_msgs::VelocityLimit | velocity limit from autoware internal modules | -| `~input/velocity_limit_clear_command_from_internal` | tier4_planning_msgs::VelocityLimitClearCommand | velocity limit clear command | +| Name | Type | Description | +| --------------------------------------------------- | --------------------------------------------------------------- | --------------------------------------------- | +| `~input/velocity_limit_from_api` | autoware_internal_planning_msgs::msg::VelocityLimit | velocity limit from api | +| `~input/velocity_limit_from_internal` | autoware_internal_planning_msgs::msg::VelocityLimit | velocity limit from autoware internal modules | +| `~input/velocity_limit_clear_command_from_internal` | autoware_internal_planning_msgs::msg::VelocityLimitClearCommand | velocity limit clear command | ## Outputs -| Name | Type | Description | -| ---------------------- | ---------------------------------- | ------------------------------------------------- | -| `~output/max_velocity` | tier4_planning_msgs::VelocityLimit | current information of the hardest velocity limit | +| Name | Type | Description | +| ---------------------- | --------------------------------------------------- | ------------------------------------------------- | +| `~output/max_velocity` | autoware_internal_planning_msgs::msg::VelocityLimit | current information of the hardest velocity limit | ## Parameters diff --git a/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp b/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp index be4893d5a49c6..a1b6b8304d93d 100644 --- a/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp +++ b/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp @@ -19,8 +19,8 @@ #include #include -#include -#include +#include +#include #include #include @@ -30,9 +30,9 @@ namespace autoware::external_velocity_limit_selector { using autoware_internal_debug_msgs::msg::StringStamped; -using tier4_planning_msgs::msg::VelocityLimit; -using tier4_planning_msgs::msg::VelocityLimitClearCommand; -using tier4_planning_msgs::msg::VelocityLimitConstraints; +using autoware_internal_planning_msgs::msg::VelocityLimit; +using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand; +using autoware_internal_planning_msgs::msg::VelocityLimitConstraints; using VelocityLimitTable = std::unordered_map; diff --git a/planning/autoware_external_velocity_limit_selector/package.xml b/planning/autoware_external_velocity_limit_selector/package.xml index fe7e0b3ff547b..ae2402a30fbe1 100644 --- a/planning/autoware_external_velocity_limit_selector/package.xml +++ b/planning/autoware_external_velocity_limit_selector/package.xml @@ -2,7 +2,7 @@ autoware_external_velocity_limit_selector - 0.42.0 + 0.43.0 The autoware_external_velocity_limit_selector ROS 2 package Satoshi Ota Shinnosuke Hirakawa @@ -18,10 +18,10 @@ autoware_cmake autoware_internal_debug_msgs + autoware_internal_planning_msgs generate_parameter_library rclcpp rclcpp_components - tier4_planning_msgs ros2cli topic_tools diff --git a/planning/autoware_external_velocity_limit_selector/test/test_external_velocity_limit_selector_node_launch.py b/planning/autoware_external_velocity_limit_selector/test/test_external_velocity_limit_selector_node_launch.py index 1c7e882fbc81f..87574558481a5 100644 --- a/planning/autoware_external_velocity_limit_selector/test/test_external_velocity_limit_selector_node_launch.py +++ b/planning/autoware_external_velocity_limit_selector/test/test_external_velocity_limit_selector_node_launch.py @@ -18,6 +18,8 @@ import unittest from ament_index_python import get_package_share_directory +from autoware_internal_planning_msgs.msg import VelocityLimit +from autoware_internal_planning_msgs.msg import VelocityLimitClearCommand import launch from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import AnyLaunchDescriptionSource @@ -30,8 +32,6 @@ from rcl_interfaces.srv import SetParameters import rclpy import rclpy.qos -from tier4_planning_msgs.msg import VelocityLimit -from tier4_planning_msgs.msg import VelocityLimitClearCommand logger = get_logger(__name__) diff --git a/planning/autoware_freespace_planner/CHANGELOG.rst b/planning/autoware_freespace_planner/CHANGELOG.rst index 584e18583a76b..ee666535f1fb4 100644 --- a/planning/autoware_freespace_planner/CHANGELOG.rst +++ b/planning/autoware_freespace_planner/CHANGELOG.rst @@ -2,13 +2,25 @@ Changelog for package autoware_freespace_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* fix(planning): add missing exec_depend (`#10134 `_) + * fix(planning): add missing exec_depend + * fix find-pkg-share + * fix find-pkg-share + --------- +* Contributors: Hayato Mizushima, NorahXiong, Takagi, Isamu, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (`#10180 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (`#10180 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -48,7 +60,7 @@ Changelog for package autoware_freespace_planner 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -57,25 +69,25 @@ Changelog for package autoware_freespace_planner 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_freespace_planner): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_freespace_planner (`#9903 `_) +* feat(autoware_freespace_planner): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_freespace_planner (`#9903 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in flies planning/autoware_freespace_planner * Contributors: Fumiya Watanabe, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. * style(pre-commit): autofix * Updated the freespace planner instantiation call in the path planning modules @@ -87,14 +99,14 @@ Changelog for package autoware_freespace_planner Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(freespace_planner): add processing time pub (`#9332 `_) -* fix(freespace_planner): fix is near target check (`#9327 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(freespace_planner): add processing time pub (`#9332 `_) +* fix(freespace_planner): fix is near target check (`#9327 `_) * fix is_near_target_check * update unit test --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -104,9 +116,9 @@ Changelog for package autoware_freespace_planner 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -117,7 +129,7 @@ Changelog for package autoware_freespace_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(freespace_planner): make unit tests for member functions (`#9060 `_) +* test(freespace_planner): make unit tests for member functions (`#9060 `_) * refactor freespace planner * implement unit tests for freespace planner util functions * add freespace planner utils namespace @@ -126,7 +138,7 @@ Changelog for package autoware_freespace_planner * implement unit tests for FreespacePlanner member functions * add docstring for functions --------- -* test(freespace_planner): add unit tests for util functions (`#9059 `_) +* test(freespace_planner): add unit tests for util functions (`#9059 `_) * refactor freespace planner * add function is_near_target to freespace planner utils * add freespace planner utils namespace @@ -134,19 +146,19 @@ Changelog for package autoware_freespace_planner * implement unit tests for freespace planner util functions * add freespace planner utils namespace --------- -* refactor(freespace_planner): move functions to utils (`#9058 `_) +* refactor(freespace_planner): move functions to utils (`#9058 `_) * refactor freespace planner * add function is_near_target to freespace planner utils * add freespace planner utils namespace * fix function call --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(freespace_planner): fix free space planner spamming message (`#8614 `_) +* fix(freespace_planner): fix free space planner spamming message (`#8614 `_) check data availability only when scenario is active -* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) +* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -224,7 +236,7 @@ Changelog for package autoware_freespace_planner * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -290,7 +302,7 @@ Changelog for package autoware_freespace_planner * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) * refactor free space planner subscribers * implement scenario switching for edge cases * fix scenario selector test @@ -301,8 +313,8 @@ Changelog for package autoware_freespace_planner * improve near target logic * use timer based implementation for obstacle check --------- -* refactor(autoware_freespace_planner): rework parameters (`#8296 `_) -* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) +* refactor(autoware_freespace_planner): rework parameters (`#8296 `_) +* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -356,8 +368,8 @@ Changelog for package autoware_freespace_planner * suppress spell check --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(freespace_planner): disable randomly failing tests (`#8337 `_) -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* fix(freespace_planner): disable randomly failing tests (`#8337 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -390,14 +402,14 @@ Changelog for package autoware_freespace_planner * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -414,7 +426,7 @@ Changelog for package autoware_freespace_planner fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(test_utils): move to common folder (`#7158 `_) +* 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 @@ -426,7 +438,7 @@ Changelog for package autoware_freespace_planner * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -435,7 +447,7 @@ Changelog for package autoware_freespace_planner * fix formats * keep header and source file name as before --------- -* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) +* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) refactor(freespace_planner)!: add autoawre prefix * Contributors: Batuhan Beytekin, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, mkquda diff --git a/planning/autoware_freespace_planner/launch/freespace_planner.launch.xml b/planning/autoware_freespace_planner/launch/freespace_planner.launch.xml index e92a04307fed2..4ed5088e4986a 100644 --- a/planning/autoware_freespace_planner/launch/freespace_planner.launch.xml +++ b/planning/autoware_freespace_planner/launch/freespace_planner.launch.xml @@ -6,7 +6,7 @@ - + diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml index ad3dfdc3f8139..54dbf3ff2b5cd 100644 --- a/planning/autoware_freespace_planner/package.xml +++ b/planning/autoware_freespace_planner/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planner - 0.42.0 + 0.43.0 The autoware_freespace_planner package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp index 48df36d309d9a..e931dda704684 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp @@ -15,7 +15,7 @@ #include "autoware/freespace_planner/freespace_planner_node.hpp" #include -#include +#include #include #include diff --git a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst index 312ac712227d0..293c235617c49 100644 --- a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst +++ b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_freespace_planning_algorithms ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,29 +25,29 @@ Changelog for package autoware_freespace_planning_algorithms 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(autoware_freespace_planning_algorithms): fix bugprone-errors (`#9670 `_) +* fix(autoware_freespace_planning_algorithms): fix bugprone-errors (`#9670 `_) * fix: bugprone-error * fix: bugprone-error --------- -* build(autoware_freespace_planning_algorithms): increase test timeout to 2 mins (`#9639 `_) +* build(autoware_freespace_planning_algorithms): increase test timeout to 2 mins (`#9639 `_) * Contributors: Fumiya Watanabe, M. Fatih Cırıt, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* refactor: correct spelling (`#9528 `_) -* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. * style(pre-commit): autofix * Updated the freespace planner instantiation call in the path planning modules @@ -51,49 +57,49 @@ Changelog for package autoware_freespace_planning_algorithms --------- Co-authored-by: Steven Brills Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-const-variable (`#9433 `_) +* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-const-variable (`#9433 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-ignored-optimization-argument (`#9418 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-ignored-optimization-argument (`#9418 `_) fix: clang-diagnostic-ignored-optimization-argument -* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-private-field (`#9396 `_) +* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-private-field (`#9396 `_) * fix: clang-diagnostic-unused-private-field * fix: build error --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) -* fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) +* fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) +* fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) fix: bugprone-unused-raii * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, kobayu858, stevenbrills 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) -* fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) +* fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) +* fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) fix: bugprone-unused-raii * Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, kobayu858 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) +* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -171,7 +177,7 @@ Changelog for package autoware_freespace_planning_algorithms * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -237,11 +243,11 @@ Changelog for package autoware_freespace_planning_algorithms * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(autoware_freespace_planning_algorithms): fix variableScope (`#8431 `_) +* fix(autoware_freespace_planning_algorithms): fix variableScope (`#8431 `_) fix: variableScope Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* chore(autoware_freespace_planning_algorithms): add missing dependency (`#8494 `_) -* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) +* chore(autoware_freespace_planning_algorithms): add missing dependency (`#8494 `_) +* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -295,13 +301,13 @@ Changelog for package autoware_freespace_planning_algorithms * suppress spell check --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(autoware_freespace_planning_algorithms): fix unreadVariable (`#8360 `_) +* fix(autoware_freespace_planning_algorithms): fix unreadVariable (`#8360 `_) * fix:unreadVariable * fix:clang format --------- -* fix(autoware_freespace_planning_algorithms): fix functionConst (`#8281 `_) +* fix(autoware_freespace_planning_algorithms): fix functionConst (`#8281 `_) fix:functionConst -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -334,28 +340,28 @@ Changelog for package autoware_freespace_planning_algorithms * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* fix(autoware_freespace_planning_algorithms): fix shadowVariable (`#7949 `_) +* fix(autoware_freespace_planning_algorithms): fix shadowVariable (`#7949 `_) * fix:shadowVariable * fix:shadowVariable * fix:shadowVariable --------- -* chore(freespace_planning_algorithm): modify A* script for standalone running (`#7070 `_) +* chore(freespace_planning_algorithm): modify A* script for standalone running (`#7070 `_) * modify astar for standalone running move clearNoe() from setMap to makePlan(). * small modification * run pre-commit --------- Co-authored-by: Takumi Ito -* feat(freespace_planning_algorithms): add is_back flag into the return of A* python wrapper (`#7831 `_) +* feat(freespace_planning_algorithms): add is_back flag into the return of A* python wrapper (`#7831 `_) add is_back flag to the return of getWaypoints Co-authored-by: Takumi Ito -* fix(autoware_freespace_planning_algorithms): fix syntaxError (`#7812 `_) -* fix(autoware_freespace_planning_algorithms): fix constStatement warning (`#7580 `_) -* fix(autoware_freespace_planning_algorithms): fix unusedScopedObject bug (`#7562 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(autoware_freespace_planning_algorithms): fix syntaxError (`#7812 `_) +* fix(autoware_freespace_planning_algorithms): fix constStatement warning (`#7580 `_) +* fix(autoware_freespace_planning_algorithms): fix unusedScopedObject bug (`#7562 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -372,7 +378,7 @@ Changelog for package autoware_freespace_planning_algorithms fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -407,7 +413,7 @@ Changelog for package autoware_freespace_planning_algorithms * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(freespace_planning_algorithms)!: add autoware prefix (`#7375 `_) +* refactor(freespace_planning_algorithms)!: add autoware prefix (`#7375 `_) * Contributors: Kosuke Takeuchi, M. Fatih Cırıt, Nagi70, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, TakumIto, Yutaka Kondo, kobayu858, mkquda 0.26.0 (2024-04-03) diff --git a/planning/autoware_freespace_planning_algorithms/package.xml b/planning/autoware_freespace_planning_algorithms/package.xml index 8ad1eb03b177e..94027e51bea74 100644 --- a/planning/autoware_freespace_planning_algorithms/package.xml +++ b/planning/autoware_freespace_planning_algorithms/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planning_algorithms - 0.42.0 + 0.43.0 The autoware_freespace_planning_algorithms package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_mission_planner_universe/CHANGELOG.rst b/planning/autoware_mission_planner_universe/CHANGELOG.rst index c9a432578c8ce..78ae4d92e6dce 100644 --- a/planning/autoware_mission_planner_universe/CHANGELOG.rst +++ b/planning/autoware_mission_planner_universe/CHANGELOG.rst @@ -2,17 +2,24 @@ Changelog for package autoware_mission_planner_universe ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(autoware_mission_planner_universe): add explicit test dependency (`#10261 `_) +* Contributors: Hayato Mizushima, Mete Fatih Cırıt, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(mission_planner): tolerate goal footprint being inside the previous lanelets of closest lanelet (`#10179 `_) -* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(mission_planner): tolerate goal footprint being inside the previous lanelets of closest lanelet (`#10179 `_) +* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) * Contributors: Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -21,30 +28,30 @@ Changelog for package autoware_mission_planner_universe 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_mission_planner)!: feat(autoware_mission_planner_universe)!: add _universe suffix to package name (`#9941 `_) +* feat(autoware_mission_planner)!: feat(autoware_mission_planner_universe)!: add _universe suffix to package name (`#9941 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix: autoware_glog_compontnt (`#9586 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: autoware_glog_compontnt (`#9586 `_) Fixed autoware_glog_compontnt -* fix(cpplint): include what you use - planning (`#9570 `_) -* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* fix(mission_planner): fix initialization after route set (`#9457 `_) -* fix(autoware_mission_planner): fix clang-diagnostic-error (`#9432 `_) -* feat(mission_planner): add processing time publisher (`#9342 `_) +* fix(mission_planner): fix initialization after route set (`#9457 `_) +* fix(autoware_mission_planner): fix clang-diagnostic-error (`#9432 `_) +* feat(mission_planner): add processing time publisher (`#9342 `_) * feat(mission_planner): add processing time publisher * delete extra line * update: mission_planner, route_selector, service_utils. @@ -57,9 +64,9 @@ Changelog for package autoware_mission_planner_universe Co-authored-by: Kosuke Takeuchi * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -69,9 +76,9 @@ Changelog for package autoware_mission_planner_universe 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -82,47 +89,47 @@ Changelog for package autoware_mission_planner_universe 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) +* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) * feat(mission_planner): reroute with current route start pose when triggered by modifed goal * check new ego goal is in original preffered lane as much as possible * check goal is in goal_lane --------- -* fix(mission_planner): return without change_route if new route is empty (`#9101 `_) +* fix(mission_planner): return without change_route if new route is empty (`#9101 `_) fix(mission_planner): return if new route is empty without change_route -* chore(mission_planner): fix typo (`#9053 `_) -* test(mission_planner): add test of default_planner (`#9050 `_) -* test(mission_planner): add unit tests of utility functions (`#9011 `_) -* refactor(mission_planner): move anonymous functions to utils and add namespace (`#9012 `_) +* chore(mission_planner): fix typo (`#9053 `_) +* test(mission_planner): add test of default_planner (`#9050 `_) +* test(mission_planner): add unit tests of utility functions (`#9011 `_) +* refactor(mission_planner): move anonymous functions to utils and add namespace (`#9012 `_) feat(mission_planner): move functions to utils and add namespace -* feat(mission_planner): add option to prevent rerouting in autonomous driving mode (`#8757 `_) -* feat(mission_planner): make the "goal inside lanes" function more robuts and add tests (`#8760 `_) -* fix(mission_planner): improve condition to check if the goal is within the lane (`#8710 `_) -* fix(autoware_mission_planner): fix unusedFunction (`#8642 `_) +* feat(mission_planner): add option to prevent rerouting in autonomous driving mode (`#8757 `_) +* feat(mission_planner): make the "goal inside lanes" function more robuts and add tests (`#8760 `_) +* fix(mission_planner): improve condition to check if the goal is within the lane (`#8710 `_) +* fix(autoware_mission_planner): fix unusedFunction (`#8642 `_) fix:unusedFunction -* fix(autoware_mission_planner): fix noConstructor (`#8505 `_) +* fix(autoware_mission_planner): fix noConstructor (`#8505 `_) fix:noConstructor -* fix(autoware_mission_planner): fix funcArgNamesDifferent (`#8017 `_) +* fix(autoware_mission_planner): fix funcArgNamesDifferent (`#8017 `_) fix:funcArgNamesDifferent -* feat(mission_planner): reroute in manual driving (`#7842 `_) +* feat(mission_planner): reroute in manual driving (`#7842 `_) * feat(mission_planner): reroute in manual driving * docs(mission_planner): update document * feat(mission_planner): fix operation mode state receiving check --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) +* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) * feat(mission_planner): rename to include/autoware/{package_name} * feat(mission_planner): rename to include/autoware/{package_name} * feat(mission_planner): rename to include/autoware/{package_name} --------- -* feat(mission_planner): use polling subscriber (`#7447 `_) -* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) +* feat(mission_planner): use polling subscriber (`#7447 `_) +* 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 @@ -139,7 +146,7 @@ Changelog for package autoware_mission_planner_universe * format fix * move test map to autoware_test_utils --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -148,7 +155,7 @@ Changelog for package autoware_mission_planner_universe * fix formats * keep header and source file name as before --------- -* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) * refactor(mission_planner)!: add autoware prefix and namespace * fix svg --------- diff --git a/planning/autoware_mission_planner_universe/CMakeLists.txt b/planning/autoware_mission_planner_universe/CMakeLists.txt index 5c2445c9e2dcf..6ebdb95b8e1cb 100644 --- a/planning/autoware_mission_planner_universe/CMakeLists.txt +++ b/planning/autoware_mission_planner_universe/CMakeLists.txt @@ -44,6 +44,9 @@ if(BUILD_TESTING) target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME}_lanelet2_plugins ) + ament_target_dependencies(test_${PROJECT_NAME} + autoware_test_utils + ) endif() ament_auto_package( diff --git a/planning/autoware_mission_planner_universe/README.md b/planning/autoware_mission_planner_universe/README.md index 720ecd976f65f..39a4e181bccf0 100644 --- a/planning/autoware_mission_planner_universe/README.md +++ b/planning/autoware_mission_planner_universe/README.md @@ -8,7 +8,7 @@ Dynamic objects (e.g. pedestrians and other vehicles) and dynamic map informatio Therefore, the output topic is only published when the goal pose or check points are given and will be latched until the new goal pose or check points are given. The core implementation does not depend on a map format. Any planning algorithms can be added as plugin modules. -In current Autoware.universe, only the plugin for Lanelet2 map format is supported. +In current Autoware Universe, only the plugin for Lanelet2 map format is supported. This package also manages routes for MRM. The `route_selector` node duplicates the `mission_planner` interface and provides it for normal and MRM respectively. It distributes route requests and planning results according to current MRM operation state. diff --git a/planning/autoware_mission_planner_universe/package.xml b/planning/autoware_mission_planner_universe/package.xml index 9e933b42882fd..225e3e6a3928c 100644 --- a/planning/autoware_mission_planner_universe/package.xml +++ b/planning/autoware_mission_planner_universe/package.xml @@ -2,7 +2,7 @@ autoware_mission_planner_universe - 0.42.0 + 0.43.0 The autoware_mission_planner_universe package Takagi, Isamu Kosuke Takeuchi diff --git a/planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.cpp index dda03f3892926..b3c0c20143417 100644 --- a/planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.cpp @@ -425,7 +425,7 @@ LaneletRoute MissionPlanner::create_route(const PoseWithUuidStamped & msg) // Also, use start pose and waypoints that are on the preferred lanelet of the current route // as much as possible. // For this process, refer to RouteHandler::planPathLaneletsBetweenCheckpoints() or - // https://github.com/autowarefoundation/autoware.universe/pull/8238 too. + // https://github.com/autowarefoundation/autoware_universe/pull/8238 too. const auto & start_pose = current_route_ ? current_route_->start_pose : odometry_->pose.pose; std::vector waypoints{}; if (current_route_) { diff --git a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst index 5096d8a3ee356..3af5fa8435e2d 100644 --- a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst @@ -2,12 +2,23 @@ Changelog for package autoware_obstacle_cruise_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat(path_optimizer): additional failure logging and failure mode handling (`#10276 `_) + MRM when MPT fails +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Arjun Jagdish Ram, Hayato Mizushima, NorahXiong, Ryohsuke Mitsudome, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +58,7 @@ Changelog for package autoware_obstacle_cruise_planner 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,9 +67,9 @@ Changelog for package autoware_obstacle_cruise_planner 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_obstacle_cruise_planner)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_obstacle_cruise_planner (`#9905 `_) +* feat(autoware_obstacle_cruise_planner)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_obstacle_cruise_planner (`#9905 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_obstacle_cruise_planner -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -82,11 +93,11 @@ Changelog for package autoware_obstacle_cruise_planner * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* docs(obstacle_cruise_planner): add supplemental figures (`#9154 `_) +* docs(obstacle_cruise_planner): add supplemental figures (`#9154 `_) * add behavior determination flowchart * add cruise planning block diagram * style(pre-commit): autofix @@ -97,34 +108,34 @@ Changelog for package autoware_obstacle_cruise_planner 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (`#9594 `_) -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (`#9594 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* fix(obstacle_cruise_planner)!: remove stop reason (`#9464 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(obstacle_cruise_planner)!: remove stop reason (`#9464 `_) fix(obstacle_cruise_planner): remove stop reason * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. (`#9359 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. (`#9359 `_) * feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. * fix: cppcheck --------- -* fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9419 `_) +* fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9419 `_) fix: clang-diagnostic-delete-abstract-non-virtual-dtor -* fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-defaulted-function-deleted (`#9398 `_) +* fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-defaulted-function-deleted (`#9398 `_) fix: clang-diagnostic-defaulted-function-deleted -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -147,13 +158,13 @@ Changelog for package autoware_obstacle_cruise_planner * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) +* chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) * add utils test --------- * Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo, kobayu858 @@ -161,9 +172,9 @@ Changelog for package autoware_obstacle_cruise_planner 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -186,13 +197,13 @@ Changelog for package autoware_obstacle_cruise_planner * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) +* chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) * add utils test --------- * Contributors: Esteve Fernandez, Kem (TiankuiXian), Yuki TAKAGI, Yutaka Kondo @@ -200,10 +211,10 @@ Changelog for package autoware_obstacle_cruise_planner 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 `_) -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* chore(obstacle_cruise_planner): add maintainer (`#9077 `_) -* feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (`#8072 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* chore(obstacle_cruise_planner): add maintainer (`#9077 `_) +* feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (`#8072 `_) * feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out * cleanup, add stop safety margin for transient objects style(pre-commit): autofix @@ -215,28 +226,28 @@ Changelog for package autoware_obstacle_cruise_planner * feat: add predefined deceleration rate for VRUs * feat: update --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) +* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) fix(velocity_smoother): float type of processing time was wrong -* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) +* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) * add cruise and slow down diags to cruise planner * add cruise types * adjust planning eval --------- -* feat(obstacle_cruise_planner): prevent chattering when using point cloud (`#7861 `_) +* feat(obstacle_cruise_planner): prevent chattering when using point cloud (`#7861 `_) * prevent chattering of stop planning * Update planning/autoware_obstacle_cruise_planner/src/node.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * fix stop position oscillation --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* feat(obstacle_cruise_planner): add diagnostics publishing to cruise planner (`#7836 `_) +* feat(obstacle_cruise_planner): add diagnostics publishing to cruise planner (`#7836 `_) add diagnostics publishing to cruise planner -* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) +* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) * add pointcloud to obstacle properties * add tf listener & pointcloud subscriber * add parameters for pointcloud obstacle @@ -308,35 +319,35 @@ Changelog for package autoware_obstacle_cruise_planner Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning in generateSlowDownTrajectory (`#7659 `_) -* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning (`#7656 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning in generateSlowDownTrajectory (`#7659 `_) +* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning (`#7656 `_) * fix(autoware_obstacle_cruise_planner): fix shadowVariable warning * fix * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings (`#7620 `_) +* fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings (`#7620 `_) * fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings * fix --------- -* fix(autoware_obstacle_cruise_planner): fix unreadVariable warning (`#7627 `_) -* refactor(obstacle_cruise_planner): apply clang-tidy check (`#7553 `_) +* fix(autoware_obstacle_cruise_planner): fix unreadVariable warning (`#7627 `_) +* refactor(obstacle_cruise_planner): apply clang-tidy check (`#7553 `_) obstacle_cruise -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning (`#7541 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning (`#7541 `_) * fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning * delete unnecessary file * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_obstacle_cruise_planner): fix unusedScopedObject bug (`#7569 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_obstacle_cruise_planner): fix unusedScopedObject bug (`#7569 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(obstacle_cruise_planner): rename to include/autoware/{package_name} (`#7510 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* feat(obstacle_cruise_planner): rename to include/autoware/{package_name} (`#7510 `_) +* 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 @@ -348,7 +359,7 @@ Changelog for package autoware_obstacle_cruise_planner * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) +* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) * Contributors: Berkay Karaman, Esteve Fernandez, Koichi98, Kosuke Takeuchi, Mamoru Sobue, Mitsuhiro Sakamoto, Ryuta Kambe, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, danielsanchezaran 0.26.0 (2024-04-03) diff --git a/planning/autoware_obstacle_cruise_planner/README.md b/planning/autoware_obstacle_cruise_planner/README.md index 273363489d56f..776b337492f42 100644 --- a/planning/autoware_obstacle_cruise_planner/README.md +++ b/planning/autoware_obstacle_cruise_planner/README.md @@ -23,11 +23,11 @@ The `autoware_obstacle_cruise_planner` package has following modules. ### Output topics -| Name | Type | Description | -| ------------------------------- | ---------------------------------------------- | -------------------------------- | -| `~/output/trajectory` | autoware_planning_msgs::Trajectory | output trajectory | -| `~/output/velocity_limit` | tier4_planning_msgs::VelocityLimit | velocity limit for cruising | -| `~/output/clear_velocity_limit` | tier4_planning_msgs::VelocityLimitClearCommand | clear command for velocity limit | +| Name | Type | Description | +| ------------------------------- | --------------------------------------------------------------- | -------------------------------- | +| `~/output/trajectory` | autoware_planning_msgs::Trajectory | output trajectory | +| `~/output/velocity_limit` | autoware_internal_planning_msgs::msg::VelocityLimit | velocity limit for cruising | +| `~/output/clear_velocity_limit` | autoware_internal_planning_msgs::msg::VelocityLimitClearCommand | clear command for velocity limit | ## Design diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp index 7d40465f59054..05105fc1fde16 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp @@ -21,6 +21,8 @@ #include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" #include "autoware_internal_debug_msgs/msg/float64_stamped.hpp" +#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp" +#include "autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp" #include "autoware_perception_msgs/msg/predicted_object.hpp" #include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" @@ -31,8 +33,6 @@ #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/point_cloud2.hpp" #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" -#include "tier4_planning_msgs/msg/velocity_limit.hpp" -#include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp" #include "visualization_msgs/msg/marker_array.hpp" #include @@ -41,6 +41,8 @@ using autoware::vehicle_info_utils::VehicleInfo; using autoware_internal_debug_msgs::msg::Float32Stamped; using autoware_internal_debug_msgs::msg::Float64Stamped; +using autoware_internal_planning_msgs::msg::VelocityLimit; +using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; @@ -54,8 +56,6 @@ using geometry_msgs::msg::Twist; using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; using tier4_planning_msgs::msg::StopSpeedExceeded; -using tier4_planning_msgs::msg::VelocityLimit; -using tier4_planning_msgs::msg::VelocityLimitClearCommand; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; namespace bg = boost::geometry; diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index c7400d1b05695..5a2651dac184b 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -1,7 +1,7 @@ autoware_obstacle_cruise_planner - 0.42.0 + 0.43.0 The autoware_obstacle_cruise_planner package Takayuki Murooka @@ -19,6 +19,7 @@ autoware_cmake autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_interpolation autoware_lanelet2_extension autoware_motion_utils diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp index 39a35204cda8f..03de35fa0de6f 100644 --- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp @@ -246,10 +246,11 @@ VelocityOptimizer::OptimizationResult VelocityOptimizer::optimize(const Optimiza } // execute optimization - const auto result = qp_solver_.optimize(P, A, q, lower_bound, upper_bound); - const std::vector optval = std::get<0>(result); + const autoware::osqp_interface::OSQPResult result = + qp_solver_.optimize(P, A, q, lower_bound, upper_bound); + const std::vector optval = result.primal_solution; - const int status_val = std::get<3>(result); + const int status_val = result.solution_status; if (status_val != 1) std::cerr << "optimization failed : " << qp_solver_.getStatusMessage().c_str() << std::endl; diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index 195f47b5e4ee4..59b2983394ce7 100644 --- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -21,7 +21,7 @@ #include "autoware_utils/ros/marker_helper.hpp" #include "autoware_utils/ros/update_param.hpp" -#include "tier4_planning_msgs/msg/velocity_limit.hpp" +#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp" #include #include @@ -336,8 +336,8 @@ std::vector PIDBasedPlanner::planCruise( planning_factor_interface_->add( stop_traj_points, planner_data.ego_pose, stop_traj_points.at(wall_idx).pose, - tier4_planning_msgs::msg::PlanningFactor::NONE, - tier4_planning_msgs::msg::SafetyFactorArray{}); + autoware_internal_planning_msgs::msg::PlanningFactor::NONE, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}); } // do cruise planning diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index a969ec1a1c890..0590629c95a89 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -336,8 +336,8 @@ std::vector PlannerInterface::generateStopTrajectory( const auto stop_pose = output_traj_points.at(*zero_vel_idx).pose; planning_factor_interface_->add( output_traj_points, planner_data.ego_pose, stop_pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}); // Store stop reason debug data debug_data_ptr_->stop_metrics = makeMetrics("PlannerInterface", "stop", planner_data, stop_pose, *determined_stop_obstacle); @@ -594,8 +594,8 @@ std::vector PlannerInterface::generateSlowDownTrajectory( slow_down_traj_points, planner_data.ego_pose, slow_down_traj_points.at(*slow_down_start_idx).pose, slow_down_traj_points.at(*slow_down_end_idx).pose, - tier4_planning_msgs::msg::PlanningFactor::SLOW_DOWN, - tier4_planning_msgs::msg::SafetyFactorArray{}, planner_data.is_driving_forward, + autoware_internal_planning_msgs::msg::PlanningFactor::SLOW_DOWN, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, planner_data.is_driving_forward, stable_slow_down_vel); } diff --git a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp index db9fef1cb7598..f5abd68a2fe3d 100644 --- a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp @@ -15,7 +15,7 @@ #include "autoware/obstacle_cruise_planner/node.hpp" #include -#include +#include #include #include diff --git a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst index f060ebe2227d6..c82acfbe16fab 100644 --- a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst @@ -2,12 +2,26 @@ Changelog for package autoware_obstacle_stop_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* fix(planning): add missing exec_depend (`#10134 `_) + * fix(planning): add missing exec_depend + * fix find-pkg-share + * fix find-pkg-share + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, NorahXiong, Ryohsuke Mitsudome, Takagi, Isamu, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +61,7 @@ Changelog for package autoware_obstacle_stop_planner 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,13 +70,13 @@ Changelog for package autoware_obstacle_stop_planner 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_obstacle_stop_planner)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_obstacle_stop_planner (`#9906 `_) +* feat(autoware_obstacle_stop_planner)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_obstacle_stop_planner (`#9906 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_obstacle_stop_planner -* feat(autoware_planning_test_manager): remove dependency of VirtualTrafficLightState and ExpandStopRange (`#9953 `_) +* feat(autoware_planning_test_manager): remove dependency of VirtualTrafficLightState and ExpandStopRange (`#9953 `_) * feat(autoware_planning_test_manager): remove dependency of virtual traffic light * modify obstacle_stop test code --------- -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -86,7 +100,7 @@ Changelog for package autoware_obstacle_stop_planner * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* fix(obstacle_stop_planner): migrate planning factor (`#9939 `_) +* fix(obstacle_stop_planner): migrate planning factor (`#9939 `_) * fix(obstacle_stop_planner): migrate planning factor * fix(autoware_default_adapi): add coversion map --------- @@ -95,24 +109,24 @@ Changelog for package autoware_obstacle_stop_planner 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* fix(obstacle_stop_planner): remove stop reason (`#9465 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(obstacle_stop_planner): remove stop reason (`#9465 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_obstacle_stop_planner): fix cppcheck warnings (`#9388 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_obstacle_stop_planner): fix cppcheck warnings (`#9388 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -122,9 +136,9 @@ Changelog for package autoware_obstacle_stop_planner 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -135,35 +149,35 @@ Changelog for package autoware_obstacle_stop_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) +* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) Register node plugin with autoware scoping -* fix(autoware_obstacle_stop_planner): fix unusedFunction (`#8643 `_) +* fix(autoware_obstacle_stop_planner): fix unusedFunction (`#8643 `_) fix:unusedFunction -* refactor(autoware_obstacle_stop_planner): rework parameters (`#7795 `_) -* fix(autoware_obstacle_stop_planner): fix cppcheck warning of functionStatic (`#8264 `_) +* refactor(autoware_obstacle_stop_planner): rework parameters (`#7795 `_) +* fix(autoware_obstacle_stop_planner): fix cppcheck warning of functionStatic (`#8264 `_) * fix: deal with functionStatic warnings * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_obstacle_stop_planner): fix functionConst (`#8282 `_) +* fix(autoware_obstacle_stop_planner): fix functionConst (`#8282 `_) fix:functionConst -* fix(autoware_obstacle_stop_planner): fix passedByValue (`#8189 `_) +* fix(autoware_obstacle_stop_planner): fix passedByValue (`#8189 `_) fix:passedByValue -* fix(autoware_obstacle_stop_planner): fix funcArgNamesDifferent (`#8018 `_) +* fix(autoware_obstacle_stop_planner): fix funcArgNamesDifferent (`#8018 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) +* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) * refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware * style(pre-commit): autofix --------- diff --git a/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml b/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml index 0b0fdc6e00459..d050b1533dbdb 100644 --- a/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml +++ b/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml @@ -1,7 +1,7 @@ - - - + + + @@ -14,7 +14,7 @@ - + diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml index 60e2db3de32a9..8bb9013ca8755 100644 --- a/planning/autoware_obstacle_stop_planner/package.xml +++ b/planning/autoware_obstacle_stop_planner/package.xml @@ -2,7 +2,7 @@ autoware_obstacle_stop_planner - 0.42.0 + 0.43.0 The autoware_obstacle_stop_planner package Satoshi Ota @@ -22,6 +22,7 @@ autoware_adapi_v1_msgs autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_motion_utils autoware_perception_msgs autoware_planning_factor_interface diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp index 4fb3cb8828abe..1b43ac6bbae59 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp @@ -194,8 +194,9 @@ void ObstacleStopPlannerDebugNode::publish() if (stop_pose_ptr_) { planning_factor_interface_->add( std::numeric_limits::quiet_NaN(), *stop_pose_ptr_, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); } planning_factor_interface_->publish(); diff --git a/planning/autoware_obstacle_stop_planner/src/node.hpp b/planning/autoware_obstacle_stop_planner/src/node.hpp index 8976591655a33..0958b7a749d24 100644 --- a/planning/autoware_obstacle_stop_planner/src/node.hpp +++ b/planning/autoware_obstacle_stop_planner/src/node.hpp @@ -34,6 +34,8 @@ #include #include #include +#include +#include #include #include #include @@ -42,8 +44,6 @@ #include #include #include -#include -#include #include #include @@ -83,6 +83,8 @@ using autoware_internal_debug_msgs::msg::BoolStamped; using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped; using autoware_internal_debug_msgs::msg::Float32Stamped; using autoware_internal_debug_msgs::msg::Float64Stamped; +using autoware_internal_planning_msgs::msg::VelocityLimit; +using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand; using autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; @@ -90,8 +92,6 @@ using autoware_utils::Point2d; using autoware_utils::Polygon2d; using autoware_utils::StopWatch; using tier4_planning_msgs::msg::ExpandStopRange; -using tier4_planning_msgs::msg::VelocityLimit; -using tier4_planning_msgs::msg::VelocityLimitClearCommand; using TrajectoryPoints = std::vector; using PointCloud = pcl::PointCloud; diff --git a/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp b/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp index 2654be0937d35..32514100285cb 100644 --- a/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp +++ b/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp @@ -15,7 +15,7 @@ #include "node.hpp" #include -#include +#include #include #include diff --git a/planning/autoware_path_optimizer/CHANGELOG.rst b/planning/autoware_path_optimizer/CHANGELOG.rst index 22c1705706b06..d6045a3145af3 100644 --- a/planning/autoware_path_optimizer/CHANGELOG.rst +++ b/planning/autoware_path_optimizer/CHANGELOG.rst @@ -2,14 +2,35 @@ Changelog for package autoware_path_optimizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(autoware_path_optimizer): hotfix for wrong logic triggering MRM on start in 3 seconds (`#10305 `_) + fix +* feat(path_optimizer): additional failure logging and failure mode handling (`#10276 `_) + MRM when MPT fails +* feat: apply splitting of autoware_utils_geometry (`#10270 `_) + * fix build error + * merge namespace + --------- +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* fix(path_optimizer): remove unnecesary optional (`#10181 `_) +* fix(planning): add missing exec_depend (`#10134 `_) + * fix(planning): add missing exec_depend + * fix find-pkg-share + * fix find-pkg-share + --------- +* Contributors: Arjun Jagdish Ram, Hayato Mizushima, NorahXiong, Takagi, Isamu, Takayuki Murooka, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat: remove dependency on autoware_universe_utils from autoware_interpolation and autoware_motion_utils (`#10092 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat: remove dependency on autoware_universe_utils from autoware_interpolation and autoware_motion_utils (`#10092 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -45,12 +66,12 @@ Changelog for package autoware_path_optimizer * Odometries -> Odometry --------- Co-authored-by: Takayuki Murooka -* fix(path_optimizer): fix possible zero division (`#10022 `_) +* fix(path_optimizer): fix possible zero division (`#10022 `_) * Contributors: Fumiya Watanabe, Mamoru Sobue, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -59,39 +80,39 @@ Changelog for package autoware_path_optimizer 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_path_optimizer)!: tier4_debug_msgs changed to autoware-internal_debug_msgs in autoware_path_optimizer (`#9907 `_) +* feat(autoware_path_optimizer)!: tier4_debug_msgs changed to autoware-internal_debug_msgs in autoware_path_optimizer (`#9907 `_) * feat: tier4_debug_msgs changed to autoware-internal_debug_msgs in files planning/autoware_path_optimizer * Update planning/autoware_path_optimizer/package.xml --------- Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* feat(motion_planning): use StringStamped in autoware_internal_debug_msgs (`#9742 `_) +* feat(motion_planning): use StringStamped in autoware_internal_debug_msgs (`#9742 `_) feat(motion planning): use StringStamped in autoware_internal_debug_msgs * Contributors: Fumiya Watanabe, Takayuki Murooka, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) -* docs: update the list styles (`#9555 `_) -* fix(path_optimizer): solve issue with time keeper (`#9483 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* docs: update the list styles (`#9555 `_) +* fix(path_optimizer): solve issue with time keeper (`#9483 `_) solve issue with time keeper * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -101,9 +122,9 @@ Changelog for package autoware_path_optimizer 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -114,30 +135,30 @@ Changelog for package autoware_path_optimizer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* chore(path_optimizer): add warn msg for exceptional behavior (`#9033 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* chore(path_optimizer): add warn msg for exceptional behavior (`#9033 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* fix(autoware_path_optimizer): fix unusedFunction (`#8644 `_) +* fix(autoware_path_optimizer): fix unusedFunction (`#8644 `_) fix:unusedFunction -* fix(autoware_path_optimizer): fix unreadVariable (`#8361 `_) +* fix(autoware_path_optimizer): fix unreadVariable (`#8361 `_) * fix:unreadVariable * fix:unreadVariable --------- -* fix(autoware_path_optimizer): fix passedByValue (`#8190 `_) +* fix(autoware_path_optimizer): fix passedByValue (`#8190 `_) fix:passedByValue -* fix(path_optimizer): revert the feature of publishing processing time (`#8160 `_) -* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) -* fix(autoware_path_optimizer): fix redundantContinue warnings (`#7577 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(path_optimizer): revert the feature of publishing processing time (`#8160 `_) +* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) +* fix(autoware_path_optimizer): fix redundantContinue warnings (`#7577 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) +* 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 @@ -149,7 +170,7 @@ Changelog for package autoware_path_optimizer * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -184,15 +205,15 @@ Changelog for package autoware_path_optimizer * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name diff --git a/planning/autoware_path_optimizer/README.md b/planning/autoware_path_optimizer/README.md index 9222e5d32ea7d..dcace1d65cbe8 100644 --- a/planning/autoware_path_optimizer/README.md +++ b/planning/autoware_path_optimizer/README.md @@ -195,7 +195,7 @@ Although it has a cons to converge to the local minima, it can get a good soluti - The point on the vehicle, offset forward with this parameter from the base link` tries to follow the reference path. - change or tune the method to approximate footprints with a set of circles. - - See [here](https://autowarefoundation.github.io/autoware.universe/main/planning/path_optimizer/docs/mpt/#collision-free) + - See [here](https://autowarefoundation.github.io/autoware_universe/main/planning/path_optimizer/docs/mpt/#collision-free) - Tuning means changing the ratio of circle's radius. ### Computation time diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp index f1c3695347762..1c395f95a1080 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp @@ -21,6 +21,7 @@ #include "autoware/path_optimizer/common_structs.hpp" #include "autoware/path_optimizer/state_equation_generator.hpp" #include "autoware/path_optimizer/type_alias.hpp" +#include "autoware/path_optimizer/utils/conditional_timer.hpp" #include "autoware_utils/geometry/geometry.hpp" #include "autoware_utils/system/time_keeper.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" @@ -57,6 +58,15 @@ struct Bounds lower_bound -= offset; upper_bound -= offset; } + + friend std::ostream & operator<<(std::ostream & os, const Bounds & bounds) + { + os << "Bounds: {\n"; + os << "\tlower_bound: " << bounds.lower_bound << ",\n"; + os << "\tupper_bound: " << bounds.upper_bound << "\n"; + os << "}\n"; + return os; + } }; struct KinematicState @@ -65,6 +75,15 @@ struct KinematicState double yaw{0.0}; Eigen::Vector2d toEigenVector() const { return Eigen::Vector2d{lat, yaw}; } + + friend std::ostream & operator<<(std::ostream & os, const KinematicState & state) + { + os << "KinematicState: {\n"; + os << "\tlat: " << state.lat << ",\n"; + os << "\tyaw: " << state.yaw << "\n"; + os << "}\n"; + return os; + } }; struct ReferencePoint @@ -75,9 +94,9 @@ struct ReferencePoint // additional information double curvature{0.0}; double delta_arc_length{0.0}; - double alpha{0.0}; // for minimizing lateral error - Bounds bounds{}; // bounds on `pose` - std::vector> beta{}; // for collision-free constraint + double alpha{0.0}; // for minimizing lateral error + Bounds bounds{}; // bounds on `pose` + std::vector beta{}; // for collision-free constraint double normalized_avoidance_cost{0.0}; // bounds and its local pose on each collision-free constraint @@ -92,6 +111,55 @@ struct ReferencePoint double getYaw() const { return tf2::getYaw(pose.orientation); } + friend std::ostream & operator<<(std::ostream & os, const ReferencePoint & ref_point) + { + os << "ReferencePoint: {\n"; + os << "\tpose: " << ref_point.pose.position.x << ", " << ref_point.pose.position.y << ",\n"; + os << "\tlongitudinal_velocity_mps: " << ref_point.longitudinal_velocity_mps << ",\n"; + os << "\tcurvature: " << ref_point.curvature << ",\n"; + os << "\tdelta_arc_length: " << ref_point.delta_arc_length << ",\n"; + os << "\talpha: " << ref_point.alpha << ",\n"; + os << "\tbounds: " << ref_point.bounds << ",\n"; + os << "\tbeta: ["; + for (const auto & b : ref_point.beta) { + os << b << ", "; + } + os << "],\n"; + os << "\tnormalized_avoidance_cost: " << ref_point.normalized_avoidance_cost << ",\n"; + os << "\tbounds_on_constraints: ["; + for (const auto & b : ref_point.bounds_on_constraints) { + os << b << ", "; + } + os << "],\n"; + os << "\tpose_on_constraints: ["; + for (const auto & p : ref_point.pose_on_constraints) { + os << "(" << p.position.x << ", " << p.position.y << ") , "; + } + os << "],\n"; + os << "\tfixed_kinematic_state: "; + if (ref_point.fixed_kinematic_state) { + os << *ref_point.fixed_kinematic_state; + } else { + os << "nullopt"; + } + os << ",\n"; + os << "\toptimized_kinematic_state: " << ref_point.optimized_kinematic_state << ",\n"; + os << "\toptimized_input: " << ref_point.optimized_input << ",\n"; + os << "\tslack_variables: "; + if (ref_point.slack_variables) { + os << "["; + for (const auto & s : *ref_point.slack_variables) { + os << s << ", "; + } + os << "]"; + } else { + os << "nullopt"; + } + os << "\n"; + os << "}\n"; + return os; + } + geometry_msgs::msg::Pose offsetDeviation(const double lat_dev, const double yaw_dev) const { auto pose_with_deviation = autoware_utils::calc_offset_pose(pose, 0.0, lat_dev, 0.0); @@ -110,7 +178,7 @@ class MPTOptimizer const TrajectoryParam & traj_param, const std::shared_ptr debug_data_ptr, const std::shared_ptr time_keeper_); - std::vector optimizeTrajectory(const PlannerData & planner_data); + std::optional> optimizeTrajectory(const PlannerData & planner_data); std::optional> getPrevOptimizedTrajectoryPoints() const; void initialize(const bool enable_debug_info, const TrajectoryParam & traj_param); @@ -126,12 +194,30 @@ class MPTOptimizer { Eigen::SparseMatrix Q; Eigen::SparseMatrix R; + + friend std::ostream & operator<<(std::ostream & os, const ValueMatrix & matrix) + { + os << "ValueMatrix: {\n"; + os << "\tQ: (Sparse Matrix):" << matrix.Q; + os << "\tR: (Sparse Matrix):" << matrix.R; + os << "}\n"; + return os; + } }; struct ObjectiveMatrix { Eigen::MatrixXd hessian; Eigen::VectorXd gradient; + + friend std::ostream & operator<<(std::ostream & os, const ObjectiveMatrix & matrix) + { + os << "ObjectiveMatrix: {\n"; + os << "\thessian:\n" << matrix.hessian << "\n"; + os << "\tgradient:\n" << matrix.gradient << "\n"; + os << "}\n"; + return os; + } }; struct ConstraintMatrix @@ -139,6 +225,16 @@ class MPTOptimizer Eigen::MatrixXd linear; Eigen::VectorXd lower_bound; Eigen::VectorXd upper_bound; + + friend std::ostream & operator<<(std::ostream & os, const ConstraintMatrix & matrix) + { + os << "ConstraintMatrix: {\n"; + os << "\tlinear:\n" << matrix.linear << "\n"; + os << "\tlower_bound:\n" << matrix.lower_bound << "\n"; + os << "\tupper_bound:\n" << matrix.upper_bound << "\n"; + os << "}\n"; + return os; + } }; struct MPTParam diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp index 90f8722f1e643..7e77c3bdab97a 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp @@ -20,6 +20,7 @@ #include "autoware/path_optimizer/mpt_optimizer.hpp" #include "autoware/path_optimizer/replan_checker.hpp" #include "autoware/path_optimizer/type_alias.hpp" +#include "autoware/path_optimizer/utils/conditional_timer.hpp" #include "autoware_utils/ros/logger_level_configure.hpp" #include "autoware_utils/ros/polling_subscriber.hpp" #include "autoware_utils/system/stop_watch.hpp" @@ -27,6 +28,7 @@ #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include +#include #include #include @@ -68,6 +70,7 @@ class PathOptimizer : public rclcpp::Node autoware::vehicle_info_utils::VehicleInfo vehicle_info_{}; mutable std::shared_ptr debug_data_ptr_{nullptr}; mutable std::shared_ptr time_keeper_{nullptr}; + mutable std::shared_ptr conditional_timer_{nullptr}; // flags for some functions bool enable_pub_debug_marker_; @@ -76,6 +79,7 @@ class PathOptimizer : public rclcpp::Node bool enable_outside_drivable_area_stop_; bool enable_skip_optimization_; bool enable_reset_prev_optimization_; + bool is_optimization_failed_{false}; bool use_footprint_polygon_for_outside_drivable_area_check_; // core algorithms @@ -123,6 +127,7 @@ class PathOptimizer : public rclcpp::Node const std::vector & traj_points, const std::vector & optimized_points) const; void publishDebugData(const Header & header) const; + void onCheckPathOptimizationValid(diagnostic_updater::DiagnosticStatusWrapper & stat); // functions in generateOptimizedTrajectory std::vector optimizeTrajectory(const PlannerData & planner_data); @@ -145,6 +150,9 @@ class PathOptimizer : public rclcpp::Node std::unique_ptr published_time_publisher_; autoware_utils::StopWatch stop_watch_; + + // diag + diagnostic_updater::Updater updater_{this}; }; } // namespace autoware::path_optimizer diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/state_equation_generator.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/state_equation_generator.hpp index 3c47734fab200..5a74ef447dc14 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/state_equation_generator.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/state_equation_generator.hpp @@ -37,6 +37,16 @@ class StateEquationGenerator Eigen::VectorXd W; }; + friend std::ostream & operator<<(std::ostream & os, const Matrix & matrix) + { + os << "Matrix: {\n"; + os << "\tA:\n" << matrix.A << "\n"; + os << "\tB:\n" << matrix.B << "\n"; + os << "\tW:\n" << matrix.W << "\n"; + os << "}\n"; + return os; + } + StateEquationGenerator() = default; StateEquationGenerator( const double wheel_base, const double max_steer_rad, diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/conditional_timer.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/conditional_timer.hpp new file mode 100644 index 0000000000000..a218965309d5e --- /dev/null +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/conditional_timer.hpp @@ -0,0 +1,48 @@ +// Copyright 2025 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. + +#pragma once + +#include +#include + +class ConditionalTimer +{ +public: + void update(bool condition) + { + if (condition && !start_time_.has_value()) { + // Condition met, start the timer + start_time_ = std::chrono::high_resolution_clock::now(); + } else if (!condition && start_time_.has_value()) { + // Condition no longer met, stop the timer + start_time_ = std::nullopt; + } + } + + std::chrono::duration getElapsedTime() const + { + if (start_time_.has_value()) { + auto current_time = std::chrono::high_resolution_clock::now(); + return current_time - *start_time_; + } else { + return std::chrono::duration(0.0); + ; + } + } + +private: + std::optional> start_time_{ + std::nullopt}; +}; diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp index 51265e07bd3cd..d3d23877c0aab 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp @@ -36,14 +36,19 @@ #include #include -namespace autoware_utils +namespace autoware_utils_geometry { + template <> geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p); template <> geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p); -} // namespace autoware_utils + +template <> +double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p); + +} // namespace autoware_utils_geometry namespace autoware::path_optimizer { diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp index 9b22c5c8e8e89..33db501c5469d 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp @@ -21,6 +21,7 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/path_optimizer/common_structs.hpp" #include "autoware/path_optimizer/type_alias.hpp" +#include "autoware/path_optimizer/utils/geometry_utils.hpp" #include "autoware_utils/geometry/geometry.hpp" #include @@ -36,18 +37,6 @@ #include #include -namespace autoware_utils -{ -template <> -geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p); - -template <> -geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p); - -template <> -double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p); -} // namespace autoware_utils - namespace autoware::path_optimizer { namespace trajectory_utils @@ -107,13 +96,7 @@ TrajectoryPoint convertToTrajectoryPoint(const T & point) } template <> -inline TrajectoryPoint convertToTrajectoryPoint(const ReferencePoint & ref_point) -{ - TrajectoryPoint traj_point; - traj_point.pose = autoware_utils::get_pose(ref_point); - traj_point.longitudinal_velocity_mps = autoware_utils::get_longitudinal_velocity(ref_point); - return traj_point; -} +TrajectoryPoint convertToTrajectoryPoint(const ReferencePoint & ref_point); template std::vector convertToTrajectoryPoints(const std::vector & points) diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index 7216198902812..e5d78e72bfd70 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -2,7 +2,7 @@ autoware_path_optimizer - 0.42.0 + 0.43.0 The autoware_path_optimizer package Takayuki Murooka Kosuke Takeuchi @@ -30,6 +30,8 @@ tf2_ros visualization_msgs + autoware_global_parameter_loader + ament_cmake_ros ament_index_python ament_lint_auto diff --git a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp index 88145e8a28511..bb0892767aca8 100644 --- a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp +++ b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp @@ -23,6 +23,8 @@ #include "autoware_utils/math/normalization.hpp" #include "tf2/utils.h" +#include + #include #include #include @@ -471,32 +473,20 @@ void MPTOptimizer::onParam(const std::vector & parameters) updateVehicleCircles(); debug_data_ptr_->mpt_visualize_sampling_num = mpt_param_.mpt_visualize_sampling_num; } - -std::vector MPTOptimizer::optimizeTrajectory(const PlannerData & planner_data) +std::optional> MPTOptimizer::optimizeTrajectory( + const PlannerData & planner_data) { autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & p = planner_data; const auto & traj_points = p.traj_points; - const auto get_prev_optimized_traj_points = [&]() { - if (prev_optimized_traj_points_ptr_) { - RCLCPP_WARN(logger_, "return the previous optimized_trajectory as exceptional behavior."); - return *prev_optimized_traj_points_ptr_; - } - RCLCPP_WARN( - logger_, - "Try to return the previous optimized_trajectory as exceptional behavior, " - "but this failure also. Then return path_smoother output."); - return traj_points; - }; - // 1. calculate reference points auto ref_points = calcReferencePoints(planner_data, traj_points); if (ref_points.size() < 2) { RCLCPP_INFO_EXPRESSION( logger_, enable_debug_info_, "return std::nullopt since ref_points size is less than 2."); - return get_prev_optimized_traj_points(); + return std::nullopt; } // 2. calculate B and W matrices where x = B u + W @@ -515,14 +505,15 @@ std::vector MPTOptimizer::optimizeTrajectory(const PlannerData const auto optimized_variables = calcOptimizedSteerAngles(ref_points, obj_mat, const_mat); if (!optimized_variables) { RCLCPP_WARN(logger_, "return std::nullopt since could not solve qp"); - return get_prev_optimized_traj_points(); + + return std::nullopt; } // 7. convert to points with validation - const auto mpt_traj_points = calcMPTPoints(ref_points, *optimized_variables, mpt_mat); + auto mpt_traj_points = calcMPTPoints(ref_points, *optimized_variables, mpt_mat); if (!mpt_traj_points) { RCLCPP_WARN(logger_, "return std::nullopt since lateral or yaw error is too large."); - return get_prev_optimized_traj_points(); + return std::nullopt; } // 8. publish trajectories for debug @@ -533,7 +524,7 @@ std::vector MPTOptimizer::optimizeTrajectory(const PlannerData prev_optimized_traj_points_ptr_ = std::make_shared>(*mpt_traj_points); - return *mpt_traj_points; + return mpt_traj_points; } std::optional> MPTOptimizer::getPrevOptimizedTrajectoryPoints() const @@ -1351,7 +1342,7 @@ MPTOptimizer::ConstraintMatrix MPTOptimizer::calcConstraintMatrix( // calculate C mat and vec for (size_t i = 0; i < N_ref; ++i) { - const double beta = *ref_points.at(i).beta.at(l_idx); + const double beta = ref_points.at(i).beta.at(l_idx); const double lon_offset = vehicle_circle_longitudinal_offsets_.at(l_idx); C_triplet_vec.push_back(Eigen::Triplet(i, i * D_x, 1.0 * std::cos(beta))); @@ -1524,11 +1515,11 @@ std::optional MPTOptimizer::calcOptimizedSteerAngles( // solve qp time_keeper_->start_track("solveOsqp"); - const auto result = osqp_solver_ptr_->optimize(); + const autoware::osqp_interface::OSQPResult osqp_result = osqp_solver_ptr_->optimize(); time_keeper_->end_track("solveOsqp"); // check solution status - const int solution_status = std::get<3>(result); + const int solution_status = osqp_result.solution_status; prev_solution_status_ = solution_status; if (solution_status != 1) { osqp_solver_ptr_->logUnsolvedStatus("[MPT]"); @@ -1536,17 +1527,17 @@ std::optional MPTOptimizer::calcOptimizedSteerAngles( } // print iteration - const int iteration_status = std::get<4>(result); + const int iteration_status = osqp_result.iteration_status; RCLCPP_INFO_EXPRESSION(logger_, enable_debug_info_, "iteration: %d", iteration_status); // get optimization result auto optimization_result = - std::get<0>(result); // NOTE: const cannot be added due to the next operation. + osqp_result.primal_solution; // NOTE: const cannot be added due to the next operation. + const auto has_nan = std::any_of( optimization_result.begin(), optimization_result.end(), [](const auto v) { return std::isnan(v); }); if (has_nan) { - RCLCPP_WARN(logger_, "optimization failed: result contains NaN values"); return std::nullopt; } const Eigen::VectorXd optimized_variables = diff --git a/planning/autoware_path_optimizer/src/node.cpp b/planning/autoware_path_optimizer/src/node.cpp index 1d69afd057f4f..a9dd0618e6cf3 100644 --- a/planning/autoware_path_optimizer/src/node.cpp +++ b/planning/autoware_path_optimizer/src/node.cpp @@ -27,6 +27,7 @@ #include #include #include +#include #include namespace autoware::path_optimizer @@ -89,7 +90,8 @@ std::vector calcSegmentLengthVector(const std::vector & PathOptimizer::PathOptimizer(const rclcpp::NodeOptions & node_options) : Node("path_optimizer", node_options), vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo()), - debug_data_ptr_(std::make_shared()) + debug_data_ptr_(std::make_shared()), + conditional_timer_(std::make_shared()) { // interface publisher traj_pub_ = create_publisher("~/output/path", 1); @@ -134,6 +136,13 @@ PathOptimizer::PathOptimizer(const rclcpp::NodeOptions & node_options) // parameters for trajectory traj_param_ = TrajectoryParam(this); + + // Diagnostics + { + updater_.setHardwareID("path_optimizer"); + updater_.add( + "path_optimizer_emergency_stop", this, &PathOptimizer::onCheckPathOptimizationValid); + } } time_keeper_ = std::make_shared(debug_processing_time_detail_pub_); @@ -267,6 +276,7 @@ void PathOptimizer::onPath(const Path::ConstSharedPtr path_ptr) // 5. publish debug data publishDebugData(planner_data.header); + updater_.force_update(); // publish calculation_time // NOTE: This function must be called after measuring onPath calculation time @@ -294,6 +304,20 @@ bool PathOptimizer::checkInputPath(const Path & path, rclcpp::Clock clock) const return true; } +void PathOptimizer::onCheckPathOptimizationValid(diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + if (is_optimization_failed_) { + const std::string error_msg = + "[Path Optimizer]: Emergency Brake due to prolonged MPT Optimizer failure"; + const auto diag_level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + stat.summary(diag_level, error_msg); + } else { + const std::string error_msg = "[Path Optimizer]: MPT Optimizer successful"; + const auto diag_level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat.summary(diag_level, error_msg); + } +} + PlannerData PathOptimizer::createPlannerData( const Path & path, const Odometry::ConstSharedPtr ego_odom_ptr) const { @@ -315,22 +339,15 @@ std::vector PathOptimizer::generateOptimizedTrajectory( { autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_); - const auto & input_traj_points = planner_data.traj_points; - // 1. calculate trajectory with MPT // NOTE: This function may return previously optimized trajectory points. // Also, velocity on some points will not be updated for a logic purpose. auto optimized_traj_points = optimizeTrajectory(planner_data); - // 2. update velocity - // NOTE: When optimization failed or is skipped, velocity in trajectory points must - // be updated since velocity in input trajectory (path) may change. - applyInputVelocity(optimized_traj_points, input_traj_points, planner_data.ego_pose); - - // 3. insert zero velocity when trajectory is over drivable area + // 2. insert zero velocity when trajectory is over drivable area insertZeroVelocityOutsideDrivableArea(planner_data, optimized_traj_points); - // 4. publish debug marker + // 3. publish debug marker publishDebugMarkerOfOptimization(optimized_traj_points); return optimized_traj_points; @@ -339,6 +356,7 @@ std::vector PathOptimizer::generateOptimizedTrajectory( std::vector PathOptimizer::optimizeTrajectory(const PlannerData & planner_data) { autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_); + is_optimization_failed_ = false; const auto & p = planner_data; // 1. check if replan (= optimization) is required @@ -365,7 +383,23 @@ std::vector PathOptimizer::optimizeTrajectory(const PlannerData // with model predictive trajectory const auto mpt_traj = mpt_optimizer_ptr_->optimizeTrajectory(planner_data); - return mpt_traj; + const bool optimized_traj_failed = !static_cast(mpt_traj); + + conditional_timer_->update(optimized_traj_failed); + + const double elapsed_time = conditional_timer_->getElapsedTime().count(); + const bool elapsed_time_over_three_seconds = (elapsed_time > 3.0); + + auto optimized_traj_points = + optimized_traj_failed && elapsed_time_over_three_seconds ? p.traj_points : std::move(*mpt_traj); + is_optimization_failed_ = optimized_traj_failed && elapsed_time_over_three_seconds; + + // 3. update velocity + // NOTE: When optimization failed or is skipped, velocity in trajectory points must + // be updated since velocity in input trajectory (path) may change. + applyInputVelocity(optimized_traj_points, p.traj_points, planner_data.ego_pose); + + return optimized_traj_points; } std::vector PathOptimizer::getPrevOptimizedTrajectory( diff --git a/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp b/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp index 7e3a187c95bab..315a93af9cb54 100644 --- a/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp +++ b/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp @@ -36,6 +36,29 @@ #include #include +namespace autoware_utils_geometry +{ + +template <> +geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p) +{ + return p.pose.position; +} + +template <> +geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p) +{ + return p.pose; +} + +template <> +double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p) +{ + return p.longitudinal_velocity_mps; +} + +} // namespace autoware_utils_geometry + namespace autoware::path_optimizer { namespace bg = boost::geometry; diff --git a/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp b/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp index 8c7d352963288..c6e95d63e3e95 100644 --- a/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp +++ b/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp @@ -33,31 +33,21 @@ #include #include -namespace autoware_utils -{ -template <> -geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p) +namespace autoware::path_optimizer { - return p.pose.position; -} -template <> -geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p) +namespace trajectory_utils { - return p.pose; -} template <> -double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p) +TrajectoryPoint convertToTrajectoryPoint(const ReferencePoint & ref_point) { - return p.longitudinal_velocity_mps; + TrajectoryPoint traj_point; + traj_point.pose = autoware_utils::get_pose(ref_point); + traj_point.longitudinal_velocity_mps = autoware_utils::get_longitudinal_velocity(ref_point); + return traj_point; } -} // namespace autoware_utils -namespace autoware::path_optimizer -{ -namespace trajectory_utils -{ ReferencePoint convertToReferencePoint(const TrajectoryPoint & traj_point) { ReferencePoint ref_point; diff --git a/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp b/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp index 164da3173b655..6c98a227bf792 100644 --- a/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp +++ b/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp @@ -15,7 +15,7 @@ #include "autoware/path_optimizer/node.hpp" #include -#include +#include #include #include diff --git a/planning/autoware_path_smoother/CHANGELOG.rst b/planning/autoware_path_smoother/CHANGELOG.rst index 65adaa644a2e1..0909d8b3b02d4 100644 --- a/planning/autoware_path_smoother/CHANGELOG.rst +++ b/planning/autoware_path_smoother/CHANGELOG.rst @@ -2,12 +2,21 @@ Changelog for package autoware_path_smoother ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat(path_optimizer): additional failure logging and failure mode handling (`#10276 `_) + MRM when MPT fails +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* Contributors: Arjun Jagdish Ram, Hayato Mizushima, NorahXiong, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +56,7 @@ Changelog for package autoware_path_smoother 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,14 +65,14 @@ Changelog for package autoware_path_smoother 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_path_smoother)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_path_smoother (`#9910 `_) +* feat(autoware_path_smoother)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_path_smoother (`#9910 `_) * feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_path_smoother * Update planning/autoware_path_smoother/package.xml --------- Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* feat(motion_planning): use StringStamped in autoware_internal_debug_msgs (`#9742 `_) +* feat(motion_planning): use StringStamped in autoware_internal_debug_msgs (`#9742 `_) feat(motion planning): use StringStamped in autoware_internal_debug_msgs -* fix(autoware_path_smoother): fix bugprone-branch-clone (`#9697 `_) +* fix(autoware_path_smoother): fix bugprone-branch-clone (`#9697 `_) * fix: bugprone-error * fix: bugprone-error --------- @@ -72,24 +81,24 @@ Changelog for package autoware_path_smoother 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* refactor: correct spelling (`#9528 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -99,9 +108,9 @@ Changelog for package autoware_path_smoother 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -112,23 +121,23 @@ Changelog for package autoware_path_smoother 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* fix(autoware_path_smoother): fix passedByValue (`#8203 `_) +* fix(autoware_path_smoother): fix passedByValue (`#8203 `_) fix:passedByValue -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) +* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) * feat(path_smoother): rename to include/autoware/{package_name} * fix --------- -* refactor(test_utils): move to common folder (`#7158 `_) +* 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 @@ -140,7 +149,7 @@ Changelog for package autoware_path_smoother * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) * git mv * fix * fix launch diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index 97f86390f0d61..dc49f9da776ea 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -2,7 +2,7 @@ autoware_path_smoother - 0.42.0 + 0.43.0 The autoware_path_smoother package Takayuki Murooka Maxime CLEMENT diff --git a/planning/autoware_path_smoother/src/elastic_band.cpp b/planning/autoware_path_smoother/src/elastic_band.cpp index 59cc4024aeedf..f4532e429dbdc 100644 --- a/planning/autoware_path_smoother/src/elastic_band.cpp +++ b/planning/autoware_path_smoother/src/elastic_band.cpp @@ -403,9 +403,9 @@ std::optional> EBPathSmoother::calcSmoothedTrajectory() // solve QP const auto result = osqp_solver_ptr_->optimize(); - const auto optimized_points = std::get<0>(result); + const auto optimized_points = result.primal_solution; - const auto status = std::get<3>(result); + const auto status = result.solution_status; // check status if (status != 1) { diff --git a/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp b/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp index edf03556f2c21..45b5b9ba2d3da 100644 --- a/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp +++ b/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp @@ -15,7 +15,7 @@ #include "autoware/path_smoother/elastic_band_smoother.hpp" #include -#include +#include #include #include diff --git a/planning/autoware_planning_factor_interface/CHANGELOG.rst b/planning/autoware_planning_factor_interface/CHANGELOG.rst deleted file mode 100644 index 4783fab2e1b7b..0000000000000 --- a/planning/autoware_planning_factor_interface/CHANGELOG.rst +++ /dev/null @@ -1,83 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package autoware_planning_factor_interface -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.42.0 (2025-03-03) -------------------- -* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 - -0.41.2 (2025-02-19) -------------------- -* chore: bump version to 0.41.1 (`#10088 `_) -* Contributors: Ryohsuke Mitsudome - -0.41.1 (2025-02-10) -------------------- - -0.41.0 (2025-01-29) -------------------- -* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) - * chore: add new package for planning factor interface - * chore(surround_obstacle_checker): update include file - * chore(obstacle_stop_planner): update include file - * chore(obstacle_cruise_planner): update include file - * chore(motion_velocity_planner): update include file - * chore(bpp): update include file - * chore(bvp-common): update include file - * chore(blind_spot): update include file - * chore(crosswalk): update include file - * chore(detection_area): update include file - * chore(intersection): update include file - * chore(no_drivable_area): update include file - * chore(no_stopping_area): update include file - * chore(occlusion_spot): update include file - * chore(run_out): update include file - * chore(speed_bump): update include file - * chore(stop_line): update include file - * chore(template_module): update include file - * chore(traffic_light): update include file - * chore(vtl): update include file - * chore(walkway): update include file - * chore(motion_utils): remove factor interface - --------- -* Contributors: Fumiya Watanabe, Satoshi OTA - -* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) - * chore: add new package for planning factor interface - * chore(surround_obstacle_checker): update include file - * chore(obstacle_stop_planner): update include file - * chore(obstacle_cruise_planner): update include file - * chore(motion_velocity_planner): update include file - * chore(bpp): update include file - * chore(bvp-common): update include file - * chore(blind_spot): update include file - * chore(crosswalk): update include file - * chore(detection_area): update include file - * chore(intersection): update include file - * chore(no_drivable_area): update include file - * chore(no_stopping_area): update include file - * chore(occlusion_spot): update include file - * chore(run_out): update include file - * chore(speed_bump): update include file - * chore(stop_line): update include file - * chore(template_module): update include file - * chore(traffic_light): update include file - * chore(vtl): update include file - * chore(walkway): update include file - * chore(motion_utils): remove factor interface - --------- -* Contributors: Fumiya Watanabe, Satoshi OTA - -0.40.0 (2025-01-06) -------------------- - -0.39.0 (2024-11-25) -------------------- - -0.38.0 (2024-11-11) -------------------- diff --git a/planning/autoware_planning_factor_interface/CMakeLists.txt b/planning/autoware_planning_factor_interface/CMakeLists.txt deleted file mode 100644 index 0c25a2c21fa19..0000000000000 --- a/planning/autoware_planning_factor_interface/CMakeLists.txt +++ /dev/null @@ -1,11 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(autoware_planning_factor_interface) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(autoware_planning_factor_interface SHARED - DIRECTORY src -) - -ament_auto_package() diff --git a/planning/autoware_planning_factor_interface/README.md b/planning/autoware_planning_factor_interface/README.md deleted file mode 100644 index 7f715790995ba..0000000000000 --- a/planning/autoware_planning_factor_interface/README.md +++ /dev/null @@ -1 +0,0 @@ -# planning factor interface diff --git a/planning/autoware_planning_factor_interface/include/autoware/planning_factor_interface/planning_factor_interface.hpp b/planning/autoware_planning_factor_interface/include/autoware/planning_factor_interface/planning_factor_interface.hpp deleted file mode 100644 index 05c57d8739d47..0000000000000 --- a/planning/autoware_planning_factor_interface/include/autoware/planning_factor_interface/planning_factor_interface.hpp +++ /dev/null @@ -1,242 +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__PLANNING_FACTOR_INTERFACE__PLANNING_FACTOR_INTERFACE_HPP_ -#define AUTOWARE__PLANNING_FACTOR_INTERFACE__PLANNING_FACTOR_INTERFACE_HPP_ - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -namespace autoware::planning_factor_interface -{ - -using geometry_msgs::msg::Pose; -using tier4_planning_msgs::msg::ControlPoint; -using tier4_planning_msgs::msg::PlanningFactor; -using tier4_planning_msgs::msg::PlanningFactorArray; -using tier4_planning_msgs::msg::SafetyFactorArray; - -class PlanningFactorInterface -{ -public: - PlanningFactorInterface(rclcpp::Node * node, const std::string & name) - : name_{name}, - pub_factors_{ - node->create_publisher("/planning/planning_factors/" + name, 1)}, - clock_{node->get_clock()} - { - } - - /** - * @brief factor setter for single control point. - * - * @param path points. - * @param ego current pose. - * @param control point pose. (e.g. stop or slow down point pose) - * @param behavior of this planning factor. - * @param safety factor. - * @param driving direction. - * @param target velocity of the control point. - * @param shift length of the control point. - * @param detail information. - */ - template - void add( - const std::vector & points, const Pose & ego_pose, const Pose & control_point_pose, - const uint16_t behavior, const SafetyFactorArray & safety_factors, - const bool is_driving_forward = true, const double velocity = 0.0, - const double shift_length = 0.0, const std::string & detail = "") - { - const auto distance = static_cast(autoware::motion_utils::calcSignedArcLength( - points, ego_pose.position, control_point_pose.position)); - add( - distance, control_point_pose, behavior, safety_factors, is_driving_forward, velocity, - shift_length, detail); - } - - /** - * @brief factor setter for two control points (section). - * - * @param path points. - * @param ego current pose. - * @param control section start pose. (e.g. lane change start point pose) - * @param control section end pose. (e.g. lane change end point pose) - * @param behavior of this planning factor. - * @param safety factor. - * @param driving direction. - * @param target velocity of the control point. - * @param shift length of the control point. - * @param detail information. - */ - template - void add( - const std::vector & points, const Pose & ego_pose, const Pose & start_pose, - const Pose & end_pose, const uint16_t behavior, const SafetyFactorArray & safety_factors, - const bool is_driving_forward = true, const double velocity = 0.0, - const double shift_length = 0.0, const std::string & detail = "") - { - const auto start_distance = static_cast( - autoware::motion_utils::calcSignedArcLength(points, ego_pose.position, start_pose.position)); - const auto end_distance = static_cast( - autoware::motion_utils::calcSignedArcLength(points, ego_pose.position, end_pose.position)); - add( - start_distance, end_distance, start_pose, end_pose, behavior, safety_factors, - is_driving_forward, velocity, shift_length, detail); - } - - /** - * @brief factor setter for single control point. - * - * @param distance to control point. - * @param control point pose. (e.g. stop point pose) - * @param behavior of this planning factor. - * @param safety factor. - * @param driving direction. - * @param target velocity of the control point. - * @param shift length of the control point. - * @param detail information. - */ - void add( - const double distance, const Pose & control_point_pose, const uint16_t behavior, - const SafetyFactorArray & safety_factors, const bool is_driving_forward = true, - const double velocity = 0.0, const double shift_length = 0.0, const std::string & detail = "") - { - const auto control_point = tier4_planning_msgs::build() - .pose(control_point_pose) - .velocity(velocity) - .shift_length(shift_length) - .distance(distance); - - const auto factor = tier4_planning_msgs::build() - .module(name_) - .is_driving_forward(is_driving_forward) - .control_points({control_point}) - .behavior(behavior) - .detail(detail) - .safety_factors(safety_factors); - - factors_.push_back(factor); - } - - /** - * @brief factor setter for two control points (section). - * - * @param distance to control section start point. - * @param distance to control section end point. - * @param control section start pose. (e.g. lane change start point pose) - * @param control section end pose. (e.g. lane change end point pose) - * @param behavior of this planning factor. - * @param safety factor. - * @param driving direction. - * @param target velocity of the control point. - * @param shift length of the control point. - * @param detail information. - */ - void add( - const double start_distance, const double end_distance, const Pose & start_pose, - const Pose & end_pose, const uint16_t behavior, const SafetyFactorArray & safety_factors, - const bool is_driving_forward = true, const double velocity = 0.0, - const double shift_length = 0.0, const std::string & detail = "") - { - const auto control_start_point = tier4_planning_msgs::build() - .pose(start_pose) - .velocity(velocity) - .shift_length(shift_length) - .distance(start_distance); - - const auto control_end_point = tier4_planning_msgs::build() - .pose(end_pose) - .velocity(velocity) - .shift_length(shift_length) - .distance(end_distance); - - const auto factor = tier4_planning_msgs::build() - .module(name_) - .is_driving_forward(is_driving_forward) - .control_points({control_start_point, control_end_point}) - .behavior(behavior) - .detail(detail) - .safety_factors(safety_factors); - - factors_.push_back(factor); - } - - /** - * @brief publish planning factors. - */ - void publish() - { - PlanningFactorArray msg; - msg.header.frame_id = "map"; - msg.header.stamp = clock_->now(); - msg.factors = factors_; - - pub_factors_->publish(msg); - - factors_.clear(); - } - -private: - std::string name_; - - rclcpp::Publisher::SharedPtr pub_factors_; - - rclcpp::Clock::SharedPtr clock_; - - std::vector factors_; -}; - -extern template void -PlanningFactorInterface::add( - const std::vector &, const Pose &, - const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double, - const double, const std::string &); -extern template void PlanningFactorInterface::add( - const std::vector &, const Pose &, const Pose &, - const uint16_t behavior, const SafetyFactorArray &, const bool, const double, const double, - const std::string &); -extern template void PlanningFactorInterface::add( - const std::vector &, const Pose &, const Pose &, - const uint16_t behavior, const SafetyFactorArray &, const bool, const double, const double, - const std::string &); - -extern template void -PlanningFactorInterface::add( - const std::vector &, const Pose &, - const Pose &, const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, - const double, const double, const std::string &); -extern template void PlanningFactorInterface::add( - const std::vector &, const Pose &, const Pose &, - const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double, - const double, const std::string &); -extern template void PlanningFactorInterface::add( - const std::vector &, const Pose &, const Pose &, - const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double, - const double, const std::string &); - -} // namespace autoware::planning_factor_interface - -#endif // AUTOWARE__PLANNING_FACTOR_INTERFACE__PLANNING_FACTOR_INTERFACE_HPP_ diff --git a/planning/autoware_planning_factor_interface/package.xml b/planning/autoware_planning_factor_interface/package.xml deleted file mode 100644 index d4a0074b6f62f..0000000000000 --- a/planning/autoware_planning_factor_interface/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - autoware_planning_factor_interface - 0.42.0 - The autoware_planning_factor_interface package - Satoshi Ota - Mamoru Sobue - Apache License 2.0 - - Satoshi Ota - - ament_cmake_auto - autoware_cmake - - autoware_motion_utils - autoware_planning_msgs - autoware_utils - rclcpp - tier4_planning_msgs - - ament_cmake_ros - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/planning/autoware_planning_factor_interface/src/planing_factor_interface.cpp b/planning/autoware_planning_factor_interface/src/planing_factor_interface.cpp deleted file mode 100644 index de9a8b760198c..0000000000000 --- a/planning/autoware_planning_factor_interface/src/planing_factor_interface.cpp +++ /dev/null @@ -1,49 +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. - -#include - -#include -#include - -namespace autoware::planning_factor_interface -{ -template void -PlanningFactorInterface::add( - const std::vector &, const Pose &, - const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double, - const double, const std::string &); -template void PlanningFactorInterface::add( - const std::vector &, const Pose &, const Pose &, - const uint16_t behavior, const SafetyFactorArray &, const bool, const double, const double, - const std::string &); -template void PlanningFactorInterface::add( - const std::vector &, const Pose &, const Pose &, - const uint16_t behavior, const SafetyFactorArray &, const bool, const double, const double, - const std::string &); - -template void -PlanningFactorInterface::add( - const std::vector &, const Pose &, - const Pose &, const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, - const double, const double, const std::string &); -template void PlanningFactorInterface::add( - const std::vector &, const Pose &, const Pose &, - const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double, - const double, const std::string &); -template void PlanningFactorInterface::add( - const std::vector &, const Pose &, const Pose &, - const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double, - const double, const std::string &); -} // namespace autoware::planning_factor_interface diff --git a/planning/autoware_planning_topic_converter/CHANGELOG.rst b/planning/autoware_planning_topic_converter/CHANGELOG.rst index 1dfb702393d54..bfa0c6ae81131 100644 --- a/planning/autoware_planning_topic_converter/CHANGELOG.rst +++ b/planning/autoware_planning_topic_converter/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_planning_topic_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,22 +28,22 @@ Changelog for package autoware_planning_topic_converter 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package autoware_planning_topic_converter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,16 +66,16 @@ Changelog for package autoware_planning_topic_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(planning_topic_converter): rename to include/autoware/{package_name} (`#7515 `_) +* feat(planning_topic_converter): rename to include/autoware/{package_name} (`#7515 `_) * feat(planning_topic_converter): rename to include/autoware/{package_name} * fix --------- -* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) +* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) chore(autoware_planning_topic_converter): rename * Contributors: Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo diff --git a/planning/autoware_planning_topic_converter/package.xml b/planning/autoware_planning_topic_converter/package.xml index 27ed3f57e5e9e..eb40384e7c100 100644 --- a/planning/autoware_planning_topic_converter/package.xml +++ b/planning/autoware_planning_topic_converter/package.xml @@ -1,7 +1,7 @@ autoware_planning_topic_converter - 0.42.0 + 0.43.0 The autoware_planning_topic_converter package Satoshi OTA diff --git a/planning/autoware_planning_validator/CHANGELOG.rst b/planning/autoware_planning_validator/CHANGELOG.rst index 8891aaecfb8f5..756b7a7f35f4f 100644 --- a/planning/autoware_planning_validator/CHANGELOG.rst +++ b/planning/autoware_planning_validator/CHANGELOG.rst @@ -2,11 +2,27 @@ Changelog for package autoware_planning_validator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* feat(planning_validator): add yaw deviation metric (`#10258 `_) +* feat(planning_validator): add diag to check planning component latency (`#10241 `_) + * feat(planning_validator): add diag to check planning component latency + * fix: relax threshold + * fix: lacking param + * fix: relax threshold + * fix: relax threshold + * fix: add time stamp + --------- +* Contributors: Hayato Mizushima, Maxime CLEMENT, NorahXiong, Satoshi OTA, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -46,7 +62,7 @@ Changelog for package autoware_planning_validator 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -55,29 +71,29 @@ Changelog for package autoware_planning_validator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_planning_validator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_planning_validator (`#9911 `_) +* feat(autoware_planning_validator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_planning_validator (`#9911 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_planning_validator * Contributors: Fumiya Watanabe, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -87,9 +103,9 @@ Changelog for package autoware_planning_validator 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -100,19 +116,19 @@ Changelog for package autoware_planning_validator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_planning_validator): fix unusedFunction (`#8646 `_) +* fix(autoware_planning_validator): fix unusedFunction (`#8646 `_) fix:unusedFunction -* fix(autoware_planning_validator): fix knownConditionTrueFalse (`#7817 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_planning_validator): fix knownConditionTrueFalse (`#7817 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(planning_validator): rename to include/autoware/{package_name} (`#7514 `_) +* feat(planning_validator): rename to include/autoware/{package_name} (`#7514 `_) * feat(planning_validator): rename to include/autoware/{package_name} * fix --------- -* refactor(test_utils): move to common folder (`#7158 `_) +* 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 @@ -124,7 +140,7 @@ Changelog for package autoware_planning_validator * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(planning_validator)!: rename directory name (`#7411 `_) +* refactor(planning_validator)!: rename directory name (`#7411 `_) change directory name * Contributors: Kosuke Takeuchi, Kyoichi Sugahara, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, kobayu858 diff --git a/planning/autoware_planning_validator/README.md b/planning/autoware_planning_validator/README.md index 92c9b86c8b31c..dd8a2b26d5263 100644 --- a/planning/autoware_planning_validator/README.md +++ b/planning/autoware_planning_validator/README.md @@ -20,6 +20,7 @@ The following features are supported for trajectory validation and can have thre - **Distance deviation** : invalid if the ego is too far from the trajectory - **Longitudinal distance deviation** : invalid if the trajectory is too far from ego in longitudinal direction - **Forward trajectory length** : invalid if the trajectory length is not enough to stop within a given deceleration +- **Yaw difference** : invalid if the difference between the ego yaw and closest trajectory yaw is too large The following features are to be implemented. @@ -77,6 +78,7 @@ The input trajectory is detected as invalid if the index exceeds the following t | `thresholds.steering_rate` | double | invalid threshold of the steering angle rate in each trajectory point [rad/s] | 10.0 | | `thresholds.velocity_deviation` | double | invalid threshold of the velocity deviation between the ego velocity and the trajectory point closest to ego [m/s] | 100.0 | | `thresholds.distance_deviation` | double | invalid threshold of the distance deviation between the ego position and the trajectory point closest to ego [m] | 100.0 | +| `thresholds.yaw_deviation` | double | invalid threshold of the difference between the ego yaw and the closest trajectory yaw [rad] | 1.5708 | | `parameters.longitudinal_distance_deviation` | double | invalid threshold of the longitudinal distance deviation between the ego position and the trajectory [m] | 2.0 | #### Parameters diff --git a/planning/autoware_planning_validator/config/planning_validator.param.yaml b/planning/autoware_planning_validator/config/planning_validator.param.yaml index da337d70b1078..6bdb6d763c181 100644 --- a/planning/autoware_planning_validator/config/planning_validator.param.yaml +++ b/planning/autoware_planning_validator/config/planning_validator.param.yaml @@ -27,6 +27,8 @@ velocity_deviation: 100.0 distance_deviation: 100.0 longitudinal_distance_deviation: 1.0 + nominal_latency: 1.0 + yaw_deviation: 1.5708 # (= 90 degrees) parameters: # The required trajectory length is calculated as the distance needed diff --git a/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp b/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp index 427f3cc93aa9e..a81487bcd2d62 100644 --- a/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp +++ b/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp @@ -59,6 +59,8 @@ struct ValidationParams double velocity_deviation_threshold; double distance_deviation_threshold; double longitudinal_distance_deviation_threshold; + double nominal_latency_threshold; + double yaw_deviation_threshold; // parameters double forward_trajectory_length_acceleration; @@ -86,6 +88,8 @@ class PlanningValidator : public rclcpp::Node bool checkValidDistanceDeviation(const Trajectory & trajectory); bool checkValidLongitudinalDistanceDeviation(const Trajectory & trajectory); bool checkValidForwardTrajectoryLength(const Trajectory & trajectory); + bool checkValidLatency(const Trajectory & trajectory); + bool checkValidYawDeviation(const Trajectory & trajectory); private: void setupDiag(); diff --git a/planning/autoware_planning_validator/msg/PlanningValidatorStatus.msg b/planning/autoware_planning_validator/msg/PlanningValidatorStatus.msg index cf127347a6021..aa18d7e8fbf4e 100644 --- a/planning/autoware_planning_validator/msg/PlanningValidatorStatus.msg +++ b/planning/autoware_planning_validator/msg/PlanningValidatorStatus.msg @@ -15,6 +15,8 @@ bool is_valid_velocity_deviation bool is_valid_distance_deviation bool is_valid_longitudinal_distance_deviation bool is_valid_forward_trajectory_length +bool is_valid_latency +bool is_valid_yaw_deviation # values int64 trajectory_size @@ -31,5 +33,7 @@ float64 distance_deviation float64 longitudinal_distance_deviation float64 forward_trajectory_length_required float64 forward_trajectory_length_measured +float64 latency +float64 yaw_deviation int64 invalid_count diff --git a/planning/autoware_planning_validator/package.xml b/planning/autoware_planning_validator/package.xml index 00d02201babb7..abff138db2851 100644 --- a/planning/autoware_planning_validator/package.xml +++ b/planning/autoware_planning_validator/package.xml @@ -2,7 +2,7 @@ autoware_planning_validator - 0.42.0 + 0.43.0 ros node for autoware_planning_validator Takamasa Horibe Kosuke Takeuchi diff --git a/planning/autoware_planning_validator/src/planning_validator.cpp b/planning/autoware_planning_validator/src/planning_validator.cpp index e608192873c98..bfcb585e381c2 100644 --- a/planning/autoware_planning_validator/src/planning_validator.cpp +++ b/planning/autoware_planning_validator/src/planning_validator.cpp @@ -16,9 +16,13 @@ #include "autoware/planning_validator/utils.hpp" +#include #include #include +#include +#include + #include #include #include @@ -80,6 +84,8 @@ void PlanningValidator::setupParameters() p.distance_deviation_threshold = declare_parameter(t + "distance_deviation"); p.longitudinal_distance_deviation_threshold = declare_parameter(t + "longitudinal_distance_deviation"); + p.nominal_latency_threshold = declare_parameter(t + "nominal_latency"); + p.yaw_deviation_threshold = declare_parameter(t + "yaw_deviation"); const std::string ps = "parameters."; p.forward_trajectory_length_acceleration = @@ -168,6 +174,14 @@ void PlanningValidator::setupDiag() stat, validation_status_.is_valid_forward_trajectory_length, "trajectory length is too short"); }); + d->add(ns + "latency", [&](auto & stat) { + setStatus(stat, validation_status_.is_valid_latency, "latency is larger than expected value."); + }); + d->add(ns + "yaw_deviation", [&](auto & stat) { + setStatus( + stat, validation_status_.is_valid_yaw_deviation, + "difference between vehicle yaw and closest trajectory yaw is too large."); + }); } bool PlanningValidator::isDataReady() @@ -319,6 +333,8 @@ void PlanningValidator::validate(const Trajectory & trajectory) s.is_valid_lateral_acc = checkValidLateralAcceleration(resampled); s.is_valid_steering = checkValidSteering(resampled); s.is_valid_steering_rate = checkValidSteeringRate(resampled); + s.is_valid_latency = checkValidLatency(trajectory); + s.is_valid_yaw_deviation = checkValidYawDeviation(trajectory); s.invalid_count = isAllValid(s) ? 0 : s.invalid_count + 1; } @@ -544,6 +560,22 @@ bool PlanningValidator::checkValidForwardTrajectoryLength(const Trajectory & tra return forward_length > forward_length_required; } +bool PlanningValidator::checkValidLatency(const Trajectory & trajectory) +{ + validation_status_.latency = (this->now() - trajectory.header.stamp).seconds(); + return validation_status_.latency < validation_params_.nominal_latency_threshold; +} + +bool PlanningValidator::checkValidYawDeviation(const Trajectory & trajectory) +{ + const auto interpolated_trajectory_point = + motion_utils::calcInterpolatedPoint(trajectory, current_kinematics_->pose.pose); + validation_status_.yaw_deviation = std::abs(angles::shortest_angular_distance( + tf2::getYaw(interpolated_trajectory_point.pose.orientation), + tf2::getYaw(current_kinematics_->pose.pose.orientation))); + return validation_status_.yaw_deviation <= validation_params_.yaw_deviation_threshold; +} + bool PlanningValidator::isAllValid(const PlanningValidatorStatus & s) const { return s.is_valid_size && s.is_valid_finite_value && s.is_valid_interval && @@ -551,7 +583,7 @@ bool PlanningValidator::isAllValid(const PlanningValidatorStatus & s) const s.is_valid_longitudinal_max_acc && s.is_valid_longitudinal_min_acc && s.is_valid_steering && s.is_valid_steering_rate && s.is_valid_velocity_deviation && s.is_valid_distance_deviation && s.is_valid_longitudinal_distance_deviation && - s.is_valid_forward_trajectory_length; + s.is_valid_forward_trajectory_length && s.is_valid_latency && s.is_valid_yaw_deviation; } void PlanningValidator::displayStatus() @@ -582,6 +614,8 @@ void PlanningValidator::displayStatus() s.is_valid_longitudinal_distance_deviation, "planning trajectory is too far from ego in longitudinal direction!!"); warn(s.is_valid_forward_trajectory_length, "planning trajectory forward length is not enough!!"); + warn(s.is_valid_latency, "planning component latency is larger than threshold!!"); + warn(s.is_valid_yaw_deviation, "planning trajectory yaw difference from ego yaw is too large!!"); } } // namespace autoware::planning_validator diff --git a/planning/autoware_planning_validator/test/src/test_parameter.hpp b/planning/autoware_planning_validator/test/src/test_parameter.hpp index 55bbbdffbb4f3..6c7577a4799aa 100644 --- a/planning/autoware_planning_validator/test/src/test_parameter.hpp +++ b/planning/autoware_planning_validator/test/src/test_parameter.hpp @@ -32,6 +32,8 @@ constexpr double THRESHOLD_STEERING_RATE = 7.0 * deg2rad; constexpr double THRESHOLD_VELOCITY_DEVIATION = 15.0 * kmph2mps; constexpr double THRESHOLD_DISTANCE_DEVIATION = 3.0; constexpr double THRESHOLD_LONGITUDINAL_DISTANCE_DEVIATION = 2.0; +constexpr double THRESHOLD_NOMINAL_LATENCY = 1.0; +constexpr double THRESHOLD_YAW_DEVIATION = 1.5708; constexpr double PARAMETER_FORWARD_TRAJECTORY_LENGTH_ACCELERATION = -5.0; constexpr double PARAMETER_FORWARD_TRAJECTORY_LENGTH_MARGIN = 2.0; diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp index af3ae6518a057..7e7598fd08f4c 100644 --- a/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp +++ b/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp @@ -28,6 +28,7 @@ Trajectory generateTrajectoryWithConstantAcceleration( const double acceleration) { Trajectory trajectory; + trajectory.header.stamp = rclcpp::Clock{RCL_ROS_TIME}.now(); double s = 0.0, v = speed, a = acceleration; constexpr auto MAX_DT = 10.0; for (size_t i = 0; i < size; ++i) { @@ -71,6 +72,7 @@ Trajectory generateTrajectoryWithConstantCurvature( const auto radius = 1.0 / curvature; Trajectory trajectory; + trajectory.header.stamp = rclcpp::Clock{RCL_ROS_TIME}.now(); double x = 0.0, y = 0.0, yaw = 0.0; for (size_t i = 0; i <= size; ++i) { @@ -106,6 +108,7 @@ Trajectory generateTrajectoryWithConstantSteeringRate( const double wheelbase) { Trajectory trajectory; + trajectory.header.stamp = rclcpp::Clock{RCL_ROS_TIME}.now(); double x = 0.0, y = 0.0, yaw = 0.0, steering_angle_rad = 0.0; constexpr double MAX_STEERING_ANGLE_RAD = M_PI / 3.0; @@ -158,6 +161,7 @@ Trajectory generateInfTrajectory() Trajectory generateBadCurvatureTrajectory() { Trajectory trajectory; + trajectory.header.stamp = rclcpp::Clock{RCL_ROS_TIME}.now(); double y = 1.5; for (double s = 0.0; s <= 10.0; s += 1.0) { @@ -206,6 +210,8 @@ rclcpp::NodeOptions getNodeOptionsWithDefaultParams() "thresholds.distance_deviation", THRESHOLD_DISTANCE_DEVIATION); node_options.append_parameter_override( "thresholds.longitudinal_distance_deviation", THRESHOLD_LONGITUDINAL_DISTANCE_DEVIATION); + node_options.append_parameter_override("thresholds.nominal_latency", THRESHOLD_NOMINAL_LATENCY); + node_options.append_parameter_override("thresholds.yaw_deviation", THRESHOLD_YAW_DEVIATION); node_options.append_parameter_override( "parameters.forward_trajectory_length_acceleration", PARAMETER_FORWARD_TRAJECTORY_LENGTH_ACCELERATION); diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp index e52b74571282d..d2c8c1d8f1759 100644 --- a/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp +++ b/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp @@ -15,7 +15,7 @@ #include "autoware/planning_validator/planning_validator.hpp" #include -#include +#include #include #include diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp index 882ff09cfa33a..22a80a0fa57eb 100644 --- a/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp +++ b/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp @@ -16,6 +16,7 @@ #include "test_parameter.hpp" #include "test_planning_validator_helper.hpp" +#include #include #include @@ -514,3 +515,28 @@ TEST(PlanningValidator, DiagCheckForwardTrajectoryLength) runWithBadTrajectory(bad_trajectory, ego_odom, diag_name); } } + +TEST(PlanningValidator, DiagCheckYawDeviation) +{ + const auto diag_name = "planning_validator: trajectory_validation_yaw_deviation"; + const auto straight_trajectory = generateTrajectory(1.0, 0.0, 0.0, 10); + + // Ego with yaw deviation smaller than threshold -> must be OK + { + auto ego_odom = generateDefaultOdometry(0.0, 0.0, 0.0); + for (auto yaw = 0.0; yaw <= THRESHOLD_YAW_DEVIATION; yaw += 0.1) { + ego_odom.pose.pose.orientation = autoware_utils::create_quaternion_from_yaw(yaw); + runWithOKTrajectory(straight_trajectory, ego_odom, diag_name); + } + } + // Ego with yaw deviation larger than threshold -> must be NG + { + auto ego_odom = generateDefaultOdometry(0.0, 0.0, 0.0); + for (auto yaw = THRESHOLD_YAW_DEVIATION + 1e-3; yaw < M_PI; yaw += 0.1) { + ego_odom.pose.pose.orientation = autoware_utils::create_quaternion_from_yaw(yaw); + runWithBadTrajectory(straight_trajectory, ego_odom, diag_name); + ego_odom.pose.pose.orientation = autoware_utils::create_quaternion_from_yaw(-yaw); + runWithBadTrajectory(straight_trajectory, ego_odom, diag_name); + } + } +} diff --git a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst index 0d458f622039c..8f6ea23021891 100644 --- a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst +++ b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst @@ -2,16 +2,23 @@ Changelog for package autoware_remaining_distance_time_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* Contributors: Hayato Mizushima, Ryohsuke Mitsudome, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (`#10180 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (`#10180 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,32 +27,32 @@ Changelog for package autoware_remaining_distance_time_calculator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(remaining_distance_time_calculator): integrate generate_parameter_library (`#8826 `_) +* feat(remaining_distance_time_calculator): integrate generate_parameter_library (`#8826 `_) * add parameter description * use parameter listener * supress deprecated error * change scope of compile option to private --------- -* feat(remaining_distance_time_calculator): skip calculation during parking (`#9013 `_) +* feat(remaining_distance_time_calculator): skip calculation during parking (`#9013 `_) * Contributors: Fumiya Watanabe, Ismet Atabay, Mitsuhiro Sakamoto 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -55,9 +62,9 @@ Changelog for package autoware_remaining_distance_time_calculator 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -68,16 +75,16 @@ Changelog for package autoware_remaining_distance_time_calculator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: change remaning distance when the size of route is 1 (`#8852 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix: change remaning distance when the size of route is 1 (`#8852 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(test_utils): move to common folder (`#7158 `_) +* 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 @@ -89,7 +96,7 @@ Changelog for package autoware_remaining_distance_time_calculator * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -98,11 +105,11 @@ Changelog for package autoware_remaining_distance_time_calculator * fix formats * keep header and source file name as before --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) * Contributors: Ahmed Ebrahim, Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, mkquda, shulanbushangshu 0.26.0 (2024-04-03) diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml index ee9ed2ce7be00..214d2b18a77bc 100644 --- a/planning/autoware_remaining_distance_time_calculator/package.xml +++ b/planning/autoware_remaining_distance_time_calculator/package.xml @@ -1,7 +1,7 @@ autoware_remaining_distance_time_calculator - 0.42.0 + 0.43.0 Calculates and publishes remaining distance and time of the mission. Ahmed Ebrahim @@ -12,6 +12,7 @@ autoware_cmake autoware_internal_msgs + autoware_internal_planning_msgs autoware_lanelet2_extension autoware_motion_utils autoware_planning_msgs @@ -24,7 +25,6 @@ rclcpp rclcpp_components std_msgs - tier4_planning_msgs ament_cmake_ros ament_lint_auto diff --git a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp index 85778c8acd484..59b2f39ae1282 100644 --- a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp +++ b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp @@ -21,7 +21,7 @@ #include #include -#include +#include #include #include @@ -55,7 +55,7 @@ RemainingDistanceTimeCalculatorNode::RemainingDistanceTimeCalculatorNode( sub_route_ = create_subscription( "~/input/route", qos_transient_local, std::bind(&RemainingDistanceTimeCalculatorNode::on_route, this, _1)); - sub_planning_velocity_ = create_subscription( + sub_planning_velocity_ = create_subscription( "/planning/scenario_planning/current_max_velocity", qos_transient_local, std::bind(&RemainingDistanceTimeCalculatorNode::on_velocity_limit, this, _1)); sub_scenario_ = this->create_subscription( diff --git a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp index 6c5ff165436a6..6eced244cf3ea 100644 --- a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp +++ b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp @@ -21,12 +21,12 @@ #include #include +#include #include #include #include #include #include -#include #include #include @@ -49,7 +49,7 @@ class RemainingDistanceTimeCalculatorNode : public rclcpp::Node using LaneletRoute = autoware_planning_msgs::msg::LaneletRoute; using HADMapBin = autoware_map_msgs::msg::LaneletMapBin; using Odometry = nav_msgs::msg::Odometry; - using VelocityLimit = tier4_planning_msgs::msg::VelocityLimit; + using VelocityLimit = autoware_internal_planning_msgs::msg::VelocityLimit; using MissionRemainingDistanceTime = autoware_internal_msgs::msg::MissionRemainingDistanceTime; rclcpp::Subscription::SharedPtr sub_route_; diff --git a/planning/autoware_route_handler/CHANGELOG.rst b/planning/autoware_route_handler/CHANGELOG.rst deleted file mode 100644 index 1a8e64c49c48f..0000000000000 --- a/planning/autoware_route_handler/CHANGELOG.rst +++ /dev/null @@ -1,178 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package autoware_route_handler -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.42.0 (2025-03-03) -------------------- -* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: replace autoware_universe_utils with autoware_utils in autoware_route_handler (`#10153 `_) -* fix(route_handler): use non-preferred route segment even if checkpoint is not on preferred lanelet at best (`#10138 `_) -* fix(autoware_route_handler): fix a bug of route_handler (`#10119 `_) - fix bug of route_handler -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* Contributors: Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, Yukinari Hisaki - -0.41.2 (2025-02-19) -------------------- -* chore: bump version to 0.41.1 (`#10088 `_) -* Contributors: Ryohsuke Mitsudome - -0.41.1 (2025-02-10) -------------------- - -0.41.0 (2025-01-29) -------------------- -* Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(autoware_route_handler): fix bugprone-exception-escape (`#9738 `_) - * fix: bugprone-error - * fix: add include - --------- -* Contributors: Fumiya Watanabe, kobayu858 - -0.40.0 (2024-12-12) -------------------- -* Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" - This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) - * chore(package.xml): bump version to 0.39.0 - * fix: fix ticket links in CHANGELOG.rst - * fix: remove unnecessary diff - --------- - Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* refactor(test_utils): return parser as optional (`#9391 `_) - Co-authored-by: Mamoru Sobue -* 0.39.0 -* update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) - * unify package.xml version to 0.37.0 - * remove system_monitor/CHANGELOG.rst - * add changelog - * 0.38.0 - --------- -* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi - -0.39.0 (2024-11-25) -------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) - * unify package.xml version to 0.37.0 - * remove system_monitor/CHANGELOG.rst - * add changelog - * 0.38.0 - --------- -* Contributors: Esteve Fernandez, Yutaka Kondo - -0.38.0 (2024-11-08) -------------------- -* unify package.xml version to 0.37.0 -* fix(autoware_route_handler): fix cppcheck unusedVariable (`#9191 `_) -* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) - * feat(mission_planner): reroute with current route start pose when triggered by modifed goal - * check new ego goal is in original preffered lane as much as possible - * check goal is in goal_lane - --------- -* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) - * add path with lane id parser - * refactor parse to use template - --------- -* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) - * refactor lane change utility funcions - * LC utility function to get distance to next regulatory element - * don't activate LC module when close to regulatory element - * modify threshold distance calculation - * move regulatory element check to canTransitFailureState() function - * always run LC module if approaching terminal point - * use max possible LC length as threshold - * update LC readme - * refactor implementation - * update readme - * refactor checking data validity - * refactor sampling of prepare phase metrics and lane changing phase metrics - * add route handler function to get pose from 2d arc length - * refactor candidate path generation - * refactor candidate path safety check - * fix variable name - * Update planning/autoware_route_handler/src/route_handler.cpp - Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> - * correct parameter name - * set prepare segment velocity after taking max path velocity value - * update LC README - * minor changes - * check phase length difference with previos valid candidate path - * change logger name - * change functions names to snake case - * use snake case for function names - * add colors to flow chart in README - --------- - Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* 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 - --------- -* fix(route_handler): make new route continuous with previous route (`#8238 `_) -* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) - Co-authored-by: Yamato Ando -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* 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 - --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) - Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) - refactor(route_handler)!: rename to include/autoware/{package_name} -* chore(route_handler, lane_change): add codeowner (`#7475 `_) -* 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 - --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) - * rename route handler package - * update packages dependencies - * update include guards - * update includes - * put in autoware namespace - * fix formats - * keep header and source file name as before - --------- -* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, mkquda - -0.26.0 (2024-04-03) -------------------- diff --git a/planning/autoware_route_handler/CMakeLists.txt b/planning/autoware_route_handler/CMakeLists.txt deleted file mode 100644 index 66280affb0c10..0000000000000 --- a/planning/autoware_route_handler/CMakeLists.txt +++ /dev/null @@ -1,23 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(autoware_route_handler) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/route_handler.cpp -) - -if(BUILD_TESTING) - ament_add_ros_isolated_gtest(test_autoware_route_handler - test/test_route_handler.cpp) - - target_link_libraries(test_autoware_route_handler - ${PROJECT_NAME} - ) - -endif() - -ament_auto_package(INSTALL_TO_SHARE - test_route -) diff --git a/planning/autoware_route_handler/README.md b/planning/autoware_route_handler/README.md deleted file mode 100644 index bc62f06db7520..0000000000000 --- a/planning/autoware_route_handler/README.md +++ /dev/null @@ -1,18 +0,0 @@ -# route handler - -`route_handler` is a library for calculating driving route on the lanelet map. - -## Unit Testing - -The unit testing depends on `autoware_test_utils` package. -`autoware_test_utils` is a library that provides several common functions to simplify unit test creating. - -![route_handler_test](./images/route_handler_test.svg) - -By default, route file is necessary to create tests. The following illustrates the route that are used in the unit test - -### Lane change test route - -![lane_change_test_route](./images/lane_change_test_route.svg) - -- The route is based on map that can be obtained from `autoware_test_utils\test_map` diff --git a/planning/autoware_route_handler/images/lane_change_test_route.svg b/planning/autoware_route_handler/images/lane_change_test_route.svg deleted file mode 100644 index e71c8e13b1760..0000000000000 --- a/planning/autoware_route_handler/images/lane_change_test_route.svg +++ /dev/null @@ -1,618 +0,0 @@ - - - - - - - - - - - - - -
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- - - - - - - diff --git a/planning/autoware_route_handler/include/autoware/route_handler/route_handler.hpp b/planning/autoware_route_handler/include/autoware/route_handler/route_handler.hpp deleted file mode 100644 index 24afd870d122c..0000000000000 --- a/planning/autoware_route_handler/include/autoware/route_handler/route_handler.hpp +++ /dev/null @@ -1,418 +0,0 @@ -// Copyright 2021-2024 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__ROUTE_HANDLER__ROUTE_HANDLER_HPP_ -#define AUTOWARE__ROUTE_HANDLER__ROUTE_HANDLER_HPP_ - -#include - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -namespace autoware::route_handler -{ -using autoware_internal_planning_msgs::msg::PathWithLaneId; -using autoware_map_msgs::msg::LaneletMapBin; -using autoware_planning_msgs::msg::LaneletRoute; -using autoware_planning_msgs::msg::LaneletSegment; -using geometry_msgs::msg::Pose; -using geometry_msgs::msg::PoseStamped; -using std_msgs::msg::Header; -using unique_identifier_msgs::msg::UUID; -using RouteSections = std::vector; - -enum class Direction { NONE, LEFT, RIGHT }; -enum class PullOverDirection { NONE, LEFT, RIGHT }; -enum class PullOutDirection { NONE, LEFT, RIGHT }; - -struct ReferencePoint -{ - bool is_waypoint{false}; - geometry_msgs::msg::Point point; -}; -using PiecewiseReferencePoints = std::vector; - -struct PiecewiseWaypoints -{ - lanelet::Id lanelet_id; - std::vector piecewise_waypoints; -}; -using Waypoints = std::vector; - -class RouteHandler -{ -public: - RouteHandler() = default; - explicit RouteHandler(const LaneletMapBin & map_msg); - - // non-const methods - void setMap(const LaneletMapBin & map_msg); - void setRoute(const LaneletRoute & route_msg); - void setRouteLanelets(const lanelet::ConstLanelets & path_lanelets); - void clearRoute(); - - // const methods - - // for route handler status - bool isHandlerReady() const; - lanelet::ConstPolygon3d getExtraDrivableAreaById(const lanelet::Id id) const; - Header getRouteHeader() const; - UUID getRouteUuid() const; - bool isAllowedGoalModification() const; - - // for routing graph - bool isMapMsgReady() const; - lanelet::routing::RoutingGraphPtr getRoutingGraphPtr() const; - lanelet::traffic_rules::TrafficRulesPtr getTrafficRulesPtr() const; - std::shared_ptr getOverallGraphPtr() const; - lanelet::LaneletMapPtr getLaneletMapPtr() const; - static bool isNoDrivableLane(const lanelet::ConstLanelet & llt); - - // for routing - bool planPathLaneletsBetweenCheckpoints( - const Pose & start_checkpoint, const Pose & goal_checkpoint, - lanelet::ConstLanelets * path_lanelets, const bool consider_no_drivable_lanes = false) const; - std::vector createMapSegments(const lanelet::ConstLanelets & path_lanelets) const; - static bool isRouteLooped(const RouteSections & route_sections); - - // for goal - bool isInGoalRouteSection(const lanelet::ConstLanelet & lanelet) const; - Pose getGoalPose() const; - Pose getStartPose() const; - Pose getOriginalStartPose() const; - Pose getOriginalGoalPose() const; - lanelet::Id getGoalLaneId() const; - bool getGoalLanelet(lanelet::ConstLanelet * goal_lanelet) const; - std::vector getLanesAfterGoal(const double vehicle_length) const; - - // for lanelet - bool getPreviousLaneletsWithinRoute( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelets * prev_lanelets) const; - bool getNextLaneletsWithinRoute( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelets * next_lanelets) const; - bool getNextLaneletWithinRoute( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * next_lanelet) const; - bool isDeadEndLanelet(const lanelet::ConstLanelet & lanelet) const; - lanelet::ConstLanelets getLaneChangeableNeighbors(const lanelet::ConstLanelet & lanelet) const; - - /** - * @brief Check if same-direction lane is available at the right side of the lanelet - * Searches for any lanes regardless of whether it is lane-changeable or not. - * Required the linestring to be shared(same line ID) between the lanelets. - * @param the lanelet of interest - * @return vector of lanelet having same direction if true - */ - std::optional getRightLanelet( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false, - const bool get_shoulder_lane = true) const; - - /** - * @brief Check if same-direction lane is available at the left side of the lanelet - * Searches for any lanes regardless of whether it is lane-changeable or not. - * Required the linestring to be shared(same line ID) between the lanelets. - * @param the lanelet of interest - * @return vector of lanelet having same direction if true - */ - std::optional getLeftLanelet( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false, - const bool get_shoulder_lane = true) const; - lanelet::ConstLanelets getNextLanelets(const lanelet::ConstLanelet & lanelet) const; - lanelet::ConstLanelets getPreviousLanelets(const lanelet::ConstLanelet & lanelet) const; - - /** - * @brief Check if opposite-direction lane is available at the right side of the lanelet - * Required the linestring to be shared(same line ID) between the lanelets. - * @param the lanelet of interest - * @return vector of lanelet with opposite direction if true - */ - lanelet::Lanelets getRightOppositeLanelets(const lanelet::ConstLanelet & lanelet) const; - - /** - * @brief Check if opposite-direction lane is available at the left side of the lanelet - * Required the linestring to be shared between(same line ID) the lanelets. - * @param the lanelet of interest - * @return vector of lanelet with opposite direction if true - */ - lanelet::Lanelets getLeftOppositeLanelets(const lanelet::ConstLanelet & lanelet) const; - - /** - * @brief Searches and return all lanelet on the left that shares same linestring - * @param the lanelet of interest - * @param (optional) flag to include the lane with opposite direction - * @param (optional) flag to invert the opposite lanelet - * @return vector of lanelet that is connected via share linestring - */ - lanelet::ConstLanelets getAllLeftSharedLinestringLanelets( - const lanelet::ConstLanelet & lane, const bool & include_opposite, - const bool & invert_opposite = false) const noexcept; - - /** - * @brief Searches and return all lanelet on the right that shares same linestring - * @param the lanelet of interest - * @param (optional) flag to include the lane with opposite direction - * @param (optional) flag to invert the opposite lanelet - * @return vector of lanelet that is connected via share linestring - */ - lanelet::ConstLanelets getAllRightSharedLinestringLanelets( - const lanelet::ConstLanelet & lane, const bool & include_opposite, - const bool & invert_opposite = false) const noexcept; - - /** - * @brief Check if same-direction lane is available at the right side of the lanelet - * Searches for any lanes regardless of whether it is lane-changeable or not. - * Required the linestring to be shared(same line ID) between the lanelets. - * @param the lanelet of interest - * @return vector of lanelet having same direction if true - */ - lanelet::ConstLanelet getMostRightLanelet( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false, - const bool get_shoulder_lane = false) const; - - /** - * @brief Check if same-direction lane is available at the left side of the lanelet - * Searches for any lanes regardless of whether it is lane-changeable or not. - * Required the linestring to be shared(same line ID) between the lanelets. - * @param the lanelet of interest - * @return vector of lanelet having same direction if true - */ - lanelet::ConstLanelet getMostLeftLanelet( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false, - const bool get_shoulder_lane = false) const; - - /** - * Retrieves a sequence of lanelets before the given lanelet. - * The total length of retrieved lanelet sequence at least given length. Returned lanelet sequence - * does not include input lanelet.] - * @param graph [input lanelet routing graph] - * @param lanelet [input lanelet] - * @param length [minimum length of retrieved lanelet sequence] - * @return [lanelet sequence that leads to given lanelet] - */ - std::vector getPrecedingLaneletSequence( - const lanelet::ConstLanelet & lanelet, const double length, - const lanelet::ConstLanelets & exclude_lanelets = {}) const; - - /** - * Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return - * the number of lane-changeable lane to the preferred lane. - * @param Desired lanelet to query - * @param lane change direction - * @return number of lanes from input to the preferred lane - */ - int getNumLaneToPreferredLane( - const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const; - - /** - * Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return - * the distance to the preferred lane from the give lane. - * This computes each lateral interval to the preferred lane from the given lanelet - * @param lanelet lanelet to query - * @param direction change direction - * @return number of lanes from input to the preferred lane - */ - std::vector getLateralIntervalsToPreferredLane( - const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const; - - bool getClosestLaneletWithinRoute( - const Pose & search_pose, lanelet::ConstLanelet * closest_lanelet) const; - bool getClosestPreferredLaneletWithinRoute( - const Pose & search_pose, lanelet::ConstLanelet * closest_lanelet) const; - bool getClosestLaneletWithConstrainsWithinRoute( - const Pose & search_pose, lanelet::ConstLanelet * closest_lanelet, const double dist_threshold, - const double yaw_threshold) const; - - /** - * Finds the closest route lanelet to the search pose satisfying the distance and yaw constraints - * with respect to a reference lanelet, the search set will include previous route lanelets, - * next route lanelets, and neighbors of reference lanelet. Returns false if failed to find - * lanelet. - * @param search_pose pose to find closest lanelet to - * @param reference_lanelet reference lanelet to decide the search set - * @param dist_threshold distance constraint closest lanelet must be within - * @param yaw_threshold yaw constraint closest lanelet direction must be within - */ - bool getClosestRouteLaneletFromLanelet( - const Pose & search_pose, const lanelet::ConstLanelet & reference_lanelet, - lanelet::ConstLanelet * closest_lanelet, const double dist_threshold, - const double yaw_threshold) const; - - lanelet::ConstLanelet getLaneletsFromId(const lanelet::Id id) const; - lanelet::ConstLanelets getLaneletsFromIds(const lanelet::Ids & ids) const; - lanelet::ConstLanelets getLaneletSequence( - const lanelet::ConstLanelet & lanelet, const Pose & current_pose, - const double backward_distance, const double forward_distance, - const bool only_route_lanes = true) const; - lanelet::ConstLanelets getLaneletSequence( - const lanelet::ConstLanelet & lanelet, - const double backward_distance = std::numeric_limits::max(), - const double forward_distance = std::numeric_limits::max(), - const bool only_route_lanes = true) const; - lanelet::ConstLanelets getShoulderLaneletSequence( - const lanelet::ConstLanelet & lanelet, const Pose & pose, - const double backward_distance = std::numeric_limits::max(), - const double forward_distance = std::numeric_limits::max()) const; - bool isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const; - bool isRouteLanelet(const lanelet::ConstLanelet & lanelet) const; - bool isRoadLanelet(const lanelet::ConstLanelet & lanelet) const; - lanelet::ConstLanelets getPreferredLanelets() const; - - // for path - PathWithLaneId getCenterLinePath( - const lanelet::ConstLanelets & lanelet_sequence, const double s_start, const double s_end, - bool use_exact = true) const; - std::vector calcWaypointsVector(const lanelet::ConstLanelets & lanelet_sequence) const; - void removeOverlappedCenterlineWithWaypoints( - std::vector & piecewise_ref_points_vec, - const std::vector & piecewise_waypoints, - const lanelet::ConstLanelets & lanelet_sequence, - const size_t piecewise_waypoints_lanelet_sequence_index, - const bool is_removing_direction_forward) const; - std::optional getLaneChangeTarget( - const lanelet::ConstLanelets & lanelets, const Direction direction = Direction::NONE) const; - std::optional getLaneChangeTargetExceptPreferredLane( - const lanelet::ConstLanelets & lanelets, const Direction direction) const; - std::optional getPullOverTarget(const Pose & goal_pose) const; - std::optional getPullOutStartLane( - const Pose & pose, const double vehicle_width) const; - lanelet::ConstLanelets getRoadLaneletsAtPose(const Pose & pose) const; - std::optional getLeftShoulderLanelet( - const lanelet::ConstLanelet & lanelet) const; - std::optional getRightShoulderLanelet( - const lanelet::ConstLanelet & lanelet) const; - - /** - * @brief Search and return shoulder lanelets that intersect with a given pose. - * @param pose reference pose at which to search for shoulder lanelets. - * @return vector of shoulder lanelets intersecting with given pose. - */ - lanelet::ConstLanelets getShoulderLaneletsAtPose(const Pose & pose) const; - - Pose get_pose_from_2d_arc_length( - const lanelet::ConstLanelets & lanelet_sequence, const double s) const; - -private: - // MUST - lanelet::routing::RoutingGraphPtr routing_graph_ptr_; - lanelet::traffic_rules::TrafficRulesPtr traffic_rules_ptr_; - std::shared_ptr overall_graphs_ptr_; - lanelet::LaneletMapPtr lanelet_map_ptr_; - lanelet::ConstLanelets route_lanelets_; - lanelet::ConstLanelets preferred_lanelets_; - lanelet::ConstLanelets start_lanelets_; - lanelet::ConstLanelets goal_lanelets_; - std::shared_ptr route_ptr_{nullptr}; - - rclcpp::Logger logger_{rclcpp::get_logger("route_handler")}; - - bool is_map_msg_ready_{false}; - bool is_handler_ready_{false}; - - // save original(not modified) route start pose for start planer execution - Pose original_start_pose_; - Pose original_goal_pose_; - - // non-const methods - void setLaneletsFromRouteMsg(); - - // const methods - // for routing - lanelet::ConstLanelets getMainLanelets(const lanelet::ConstLanelets & path_lanelets) const; - - // for lanelet - lanelet::ConstLanelets getRouteLanelets() const; - lanelet::ConstLanelets getLaneletSequenceUpTo( - const lanelet::ConstLanelet & lanelet, - const double min_length = std::numeric_limits::max(), - const bool only_route_lanes = true) const; - lanelet::ConstLanelets getLaneletSequenceAfter( - const lanelet::ConstLanelet & lanelet, - const double min_length = std::numeric_limits::max(), - const bool only_route_lanes = true) const; - std::optional getFollowingShoulderLanelet( - const lanelet::ConstLanelet & lanelet) const; - lanelet::ConstLanelets getShoulderLaneletSequenceAfter( - const lanelet::ConstLanelet & lanelet, - const double min_length = std::numeric_limits::max()) const; - std::optional getPreviousShoulderLanelet( - const lanelet::ConstLanelet & lanelet) const; - lanelet::ConstLanelets getShoulderLaneletSequenceUpTo( - const lanelet::ConstLanelet & lanelet, - const double min_length = std::numeric_limits::max()) const; - lanelet::ConstLanelets getPreviousLaneletSequence( - const lanelet::ConstLanelets & lanelet_sequence) const; - lanelet::ConstLanelets getNeighborsWithinRoute(const lanelet::ConstLanelet & lanelet) const; - - // for path - - /** - * @brief Checks if a path has a no_drivable_lane or not - * @param path lanelet path - * @return true if the lanelet path includes at least one no_drivable_lane, false if it does not - * include any. - */ - bool hasNoDrivableLaneInPath(const lanelet::routing::LaneletPath & path) const; - /** - * @brief Searches for the shortest path between start and goal lanelets that does not include any - * no_drivable_lane. - * @param start_lanelet start lanelet - * @param goal_lanelet goal lanelet - * @return the lanelet path (if found) - */ - std::optional findDrivableLanePath( - const lanelet::ConstLanelet & start_lanelet, const lanelet::ConstLanelet & goal_lanelet) const; -}; - -/// @brief custom routing cost with infinity cost for no drivable lanes -class RoutingCostDrivable : public lanelet::routing::RoutingCostDistance -{ -public: - RoutingCostDrivable() : lanelet::routing::RoutingCostDistance(10.0) {} - inline double getCostSucceeding( - const lanelet::traffic_rules::TrafficRules & trafficRules, - const lanelet::ConstLaneletOrArea & from, const lanelet::ConstLaneletOrArea & to) const - { - if ( - (from.isLanelet() && RouteHandler::isNoDrivableLane(*from.lanelet())) || - (to.isLanelet() && RouteHandler::isNoDrivableLane(*to.lanelet()))) - return std::numeric_limits::infinity(); - return lanelet::routing::RoutingCostDistance::getCostSucceeding(trafficRules, from, to); - } - inline double getCostLaneChange( - const lanelet::traffic_rules::TrafficRules & trafficRules, const lanelet::ConstLanelets & from, - const lanelet::ConstLanelets & to) const noexcept - { - if ( - std::any_of(from.begin(), from.end(), RouteHandler::isNoDrivableLane) || - std::any_of(to.begin(), to.end(), RouteHandler::isNoDrivableLane)) - return std::numeric_limits::infinity(); - return lanelet::routing::RoutingCostDistance::getCostLaneChange(trafficRules, from, to); - } -}; // class RoutingCostDrivable -} // namespace autoware::route_handler -#endif // AUTOWARE__ROUTE_HANDLER__ROUTE_HANDLER_HPP_ diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml deleted file mode 100644 index eb0b81156eb56..0000000000000 --- a/planning/autoware_route_handler/package.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - autoware_route_handler - 0.42.0 - The route_handling package - Fumiya Watanabe - Zulfaqar Azmi - Kosuke Takeuchi - Takayuki Murooka - Mamoru Sobue - Go Sakayori - Alqudah Mohammad - - Apache License 2.0 - - Fumiya Watanabe - - ament_cmake_auto - autoware_cmake - - ament_cmake_ros - ament_lint_auto - autoware_lint_common - - autoware_lanelet2_extension - autoware_map_msgs - autoware_planning_msgs - autoware_test_utils - autoware_utils - geometry_msgs - rclcpp - rclcpp_components - tf2_ros - yaml-cpp - - - ament_cmake - - diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp deleted file mode 100644 index d819d63cc32d9..0000000000000 --- a/planning/autoware_route_handler/src/route_handler.cpp +++ /dev/null @@ -1,2093 +0,0 @@ -// Copyright 2021-2024 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. - -#include "autoware/route_handler/route_handler.hpp" - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace autoware::route_handler -{ -namespace -{ -using autoware_internal_planning_msgs::msg::PathPointWithLaneId; -using autoware_internal_planning_msgs::msg::PathWithLaneId; -using autoware_planning_msgs::msg::LaneletPrimitive; -using autoware_planning_msgs::msg::Path; -using autoware_utils::create_point; -using autoware_utils::create_quaternion_from_yaw; -using geometry_msgs::msg::Pose; -using lanelet::utils::to2D; - -bool exists(const std::vector & primitives, const int64_t & id) -{ - for (const auto & p : primitives) { - if (p.id == id) { - return true; - } - } - return false; -} - -bool exists(const lanelet::ConstLanelets & vectors, const lanelet::ConstLanelet & item) -{ - for (const auto & i : vectors) { - if (i.id() == item.id()) { - return true; - } - } - return false; -} - -lanelet::ConstPoint3d get3DPointFrom2DArcLength( - const lanelet::ConstLanelets & lanelet_sequence, const double s) -{ - double accumulated_distance2d = 0; - for (const auto & llt : lanelet_sequence) { - const auto & centerline = llt.centerline(); - lanelet::ConstPoint3d prev_pt; - if (!centerline.empty()) { - prev_pt = centerline.front(); - } - for (const auto & pt : centerline) { - const double distance2d = lanelet::geometry::distance2d(to2D(prev_pt), to2D(pt)); - if (accumulated_distance2d + distance2d > s) { - const double ratio = (s - accumulated_distance2d) / distance2d; - const auto interpolated_pt = prev_pt.basicPoint() * (1 - ratio) + pt.basicPoint() * ratio; - return lanelet::ConstPoint3d{ - lanelet::InvalId, interpolated_pt.x(), interpolated_pt.y(), interpolated_pt.z()}; - } - accumulated_distance2d += distance2d; - prev_pt = pt; - } - } - return lanelet::ConstPoint3d{}; -} - -PathWithLaneId removeOverlappingPoints(const PathWithLaneId & input_path) -{ - PathWithLaneId filtered_path; - for (const auto & pt : input_path.points) { - if (filtered_path.points.empty()) { - filtered_path.points.push_back(pt); - continue; - } - - constexpr double min_dist = 0.001; - if (autoware_utils::calc_distance3d(filtered_path.points.back().point, pt.point) < min_dist) { - filtered_path.points.back().lane_ids.push_back(pt.lane_ids.front()); - filtered_path.points.back().point.longitudinal_velocity_mps = std::min( - pt.point.longitudinal_velocity_mps, - filtered_path.points.back().point.longitudinal_velocity_mps); - } else { - filtered_path.points.push_back(pt); - } - } - filtered_path.left_bound = input_path.left_bound; - filtered_path.right_bound = input_path.right_bound; - return filtered_path; -} - -std::string toString(const geometry_msgs::msg::Pose & pose) -{ - std::stringstream ss; - ss << "(" << pose.position.x << ", " << pose.position.y << "," << pose.position.z << ")"; - return ss.str(); -} - -bool isClose( - const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2, const double epsilon) -{ - return std::abs(p1.x - p2.x) < epsilon && std::abs(p1.y - p2.y) < epsilon; -} - -PiecewiseReferencePoints convertWaypointsToReferencePoints( - const std::vector & piecewise_waypoints) -{ - PiecewiseReferencePoints piecewise_ref_points; - for (const auto & piecewise_waypoint : piecewise_waypoints) { - piecewise_ref_points.push_back(ReferencePoint{true, piecewise_waypoint}); - } - return piecewise_ref_points; -} - -template -bool isIndexWithinVector(const std::vector & vec, const int index) -{ - return 0 <= index && index < static_cast(vec.size()); -} - -template -void removeIndicesFromVector(std::vector & vec, std::vector indices) -{ - // sort indices in a descending order - std::sort(indices.begin(), indices.end(), std::greater()); - - // remove indices from vector - for (const size_t index : indices) { - vec.erase(vec.begin() + index); - } -} - -lanelet::ArcCoordinates calcArcCoordinates( - const lanelet::ConstLanelet & lanelet, const geometry_msgs::msg::Point & point) -{ - return lanelet::geometry::toArcCoordinates( - to2D(lanelet.centerline()), - to2D(lanelet::utils::conversion::toLaneletPoint(point)).basicPoint()); -} -} // namespace - -RouteHandler::RouteHandler(const LaneletMapBin & map_msg) -{ - setMap(map_msg); - route_ptr_ = nullptr; -} - -void RouteHandler::setMap(const LaneletMapBin & map_msg) -{ - lanelet_map_ptr_ = std::make_shared(); - lanelet::utils::conversion::fromBinMsg( - map_msg, lanelet_map_ptr_, &traffic_rules_ptr_, &routing_graph_ptr_); - const auto map_major_version_opt = - lanelet::io_handlers::parseMajorVersion(map_msg.version_map_format); - if (!map_major_version_opt) { - RCLCPP_WARN( - logger_, "setMap() for invalid version map: %s", map_msg.version_map_format.c_str()); - } else if (map_major_version_opt.value() > static_cast(lanelet::autoware::version)) { - RCLCPP_WARN( - logger_, "setMap() for a map(version %s) newer than lanelet2_extension support version(%d)", - map_msg.version_map_format.c_str(), static_cast(lanelet::autoware::version)); - } - - const auto traffic_rules = lanelet::traffic_rules::TrafficRulesFactory::create( - lanelet::Locations::Germany, lanelet::Participants::Vehicle); - const auto pedestrian_rules = lanelet::traffic_rules::TrafficRulesFactory::create( - lanelet::Locations::Germany, lanelet::Participants::Pedestrian); - const lanelet::routing::RoutingGraphConstPtr vehicle_graph = - lanelet::routing::RoutingGraph::build(*lanelet_map_ptr_, *traffic_rules); - const lanelet::routing::RoutingGraphConstPtr pedestrian_graph = - lanelet::routing::RoutingGraph::build(*lanelet_map_ptr_, *pedestrian_rules); - const lanelet::routing::RoutingGraphContainer overall_graphs({vehicle_graph, pedestrian_graph}); - overall_graphs_ptr_ = - std::make_shared(overall_graphs); - lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_); - - is_map_msg_ready_ = true; - is_handler_ready_ = false; - - setLaneletsFromRouteMsg(); -} - -bool RouteHandler::isRouteLooped(const RouteSections & route_sections) -{ - std::set lane_primitives; - for (const auto & route_section : route_sections) { - for (const auto & primitive : route_section.primitives) { - if (lane_primitives.find(primitive.id) != lane_primitives.end()) { - return true; // find duplicated id - } - lane_primitives.emplace(primitive.id); - } - } - return false; -} - -void RouteHandler::setRoute(const LaneletRoute & route_msg) -{ - if (!isRouteLooped(route_msg.segments)) { - // if get not modified route but new route, reset original start pose - if (!route_ptr_ || route_ptr_->uuid != route_msg.uuid) { - original_start_pose_ = route_msg.start_pose; - original_goal_pose_ = route_msg.goal_pose; - } - route_ptr_ = std::make_shared(route_msg); - is_handler_ready_ = false; - setLaneletsFromRouteMsg(); - } else { - RCLCPP_ERROR( - logger_, - "Loop detected within route! Currently, no loop is allowed for route! Using previous route"); - } -} - -bool RouteHandler::isHandlerReady() const -{ - return is_handler_ready_; -} - -void RouteHandler::setRouteLanelets(const lanelet::ConstLanelets & path_lanelets) -{ - if (!path_lanelets.empty()) { - const auto & first_lanelet = path_lanelets.front(); - start_lanelets_ = lanelet::utils::query::getAllNeighbors(routing_graph_ptr_, first_lanelet); - const auto & last_lanelet = path_lanelets.back(); - goal_lanelets_ = lanelet::utils::query::getAllNeighbors(routing_graph_ptr_, last_lanelet); - } - - // set route lanelets - std::unordered_set route_lanelets_id; - std::unordered_set candidate_lanes_id; - for (const auto & lane : path_lanelets) { - route_lanelets_id.insert(lane.id()); - const auto right_relations = routing_graph_ptr_->rightRelations(lane); - for (const auto & right_relation : right_relations) { - if (right_relation.relationType == lanelet::routing::RelationType::Right) { - route_lanelets_id.insert(right_relation.lanelet.id()); - } else if (right_relation.relationType == lanelet::routing::RelationType::AdjacentRight) { - candidate_lanes_id.insert(right_relation.lanelet.id()); - } - } - const auto left_relations = routing_graph_ptr_->leftRelations(lane); - for (const auto & left_relation : left_relations) { - if (left_relation.relationType == lanelet::routing::RelationType::Left) { - route_lanelets_id.insert(left_relation.lanelet.id()); - } else if (left_relation.relationType == lanelet::routing::RelationType::AdjacentLeft) { - candidate_lanes_id.insert(left_relation.lanelet.id()); - } - } - } - - // check if candidates are really part of route - for (const auto & candidate_id : candidate_lanes_id) { - lanelet::ConstLanelet lanelet = lanelet_map_ptr_->laneletLayer.get(candidate_id); - auto previous_lanelets = routing_graph_ptr_->previous(lanelet); - bool is_connected_to_main_lanes_prev = false; - bool is_connected_to_candidate_prev = true; - if (exists(start_lanelets_, lanelet)) { - is_connected_to_candidate_prev = false; - } - while (!previous_lanelets.empty() && is_connected_to_candidate_prev && - !is_connected_to_main_lanes_prev) { - is_connected_to_candidate_prev = false; - - for (const auto & prev_lanelet : previous_lanelets) { - if (route_lanelets_id.find(prev_lanelet.id()) != route_lanelets_id.end()) { - is_connected_to_main_lanes_prev = true; - break; - } - if (exists(start_lanelets_, prev_lanelet)) { - break; - } - - if (candidate_lanes_id.find(prev_lanelet.id()) != candidate_lanes_id.end()) { - is_connected_to_candidate_prev = true; - previous_lanelets = routing_graph_ptr_->previous(prev_lanelet); - break; - } - } - } - - auto following_lanelets = routing_graph_ptr_->following(lanelet); - bool is_connected_to_main_lanes_next = false; - bool is_connected_to_candidate_next = true; - if (exists(goal_lanelets_, lanelet)) { - is_connected_to_candidate_next = false; - } - while (!following_lanelets.empty() && is_connected_to_candidate_next && - !is_connected_to_main_lanes_next) { - is_connected_to_candidate_next = false; - for (const auto & next_lanelet : following_lanelets) { - if (route_lanelets_id.find(next_lanelet.id()) != route_lanelets_id.end()) { - is_connected_to_main_lanes_next = true; - break; - } - if (exists(goal_lanelets_, next_lanelet)) { - break; - } - if (candidate_lanes_id.find(next_lanelet.id()) != candidate_lanes_id.end()) { - is_connected_to_candidate_next = true; - following_lanelets = routing_graph_ptr_->following(next_lanelet); - break; - } - } - } - - if (is_connected_to_main_lanes_next && is_connected_to_main_lanes_prev) { - route_lanelets_id.insert(candidate_id); - } - } - - route_lanelets_.clear(); - route_lanelets_.reserve(route_lanelets_id.size()); - for (const auto & id : route_lanelets_id) { - route_lanelets_.push_back(lanelet_map_ptr_->laneletLayer.get(id)); - } - is_handler_ready_ = true; -} - -void RouteHandler::clearRoute() -{ - route_lanelets_.clear(); - preferred_lanelets_.clear(); - start_lanelets_.clear(); - goal_lanelets_.clear(); - route_ptr_ = nullptr; - is_handler_ready_ = false; -} - -void RouteHandler::setLaneletsFromRouteMsg() -{ - if (!route_ptr_ || !is_map_msg_ready_) { - return; - } - route_lanelets_.clear(); - preferred_lanelets_.clear(); - const bool is_route_valid = lanelet::utils::route::isRouteValid(*route_ptr_, lanelet_map_ptr_); - if (!is_route_valid) { - return; - } - - size_t primitive_size{0}; - for (const auto & route_section : route_ptr_->segments) { - primitive_size += route_section.primitives.size(); - } - route_lanelets_.reserve(primitive_size); - - for (const auto & route_section : route_ptr_->segments) { - for (const auto & primitive : route_section.primitives) { - const auto id = primitive.id; - const auto & llt = lanelet_map_ptr_->laneletLayer.get(id); - route_lanelets_.push_back(llt); - if (id == route_section.preferred_primitive.id) { - preferred_lanelets_.push_back(llt); - } - } - } - goal_lanelets_.clear(); - start_lanelets_.clear(); - if (!route_ptr_->segments.empty()) { - goal_lanelets_.reserve(route_ptr_->segments.back().primitives.size()); - for (const auto & primitive : route_ptr_->segments.back().primitives) { - const auto id = primitive.id; - const auto & llt = lanelet_map_ptr_->laneletLayer.get(id); - goal_lanelets_.push_back(llt); - } - start_lanelets_.reserve(route_ptr_->segments.front().primitives.size()); - for (const auto & primitive : route_ptr_->segments.front().primitives) { - const auto id = primitive.id; - const auto & llt = lanelet_map_ptr_->laneletLayer.get(id); - start_lanelets_.push_back(llt); - } - } - is_handler_ready_ = true; -} - -Header RouteHandler::getRouteHeader() const -{ - if (!route_ptr_) { - RCLCPP_WARN(logger_, "[Route Handler] getRouteHeader: Route has not been set yet"); - return Header(); - } - return route_ptr_->header; -} - -UUID RouteHandler::getRouteUuid() const -{ - if (!route_ptr_) { - RCLCPP_WARN_SKIPFIRST(logger_, "[Route Handler] getRouteUuid: Route has not been set yet"); - return UUID(); - } - return route_ptr_->uuid; -} - -bool RouteHandler::isAllowedGoalModification() const -{ - if (!route_ptr_) { - RCLCPP_WARN(logger_, "[Route Handler] getRouteUuid: Route has not been set yet"); - return false; - } - return route_ptr_->allow_modification; -} - -std::vector RouteHandler::getLanesAfterGoal( - const double vehicle_length) const -{ - lanelet::ConstLanelet goal_lanelet; - if (!getGoalLanelet(&goal_lanelet)) { - return std::vector{}; - } - - const double min_succeeding_length = vehicle_length * 2; - const auto succeeding_lanes_vec = lanelet::utils::query::getSucceedingLaneletSequences( - routing_graph_ptr_, goal_lanelet, min_succeeding_length); - if (succeeding_lanes_vec.empty()) { - return std::vector{}; - } - - return succeeding_lanes_vec.front(); -} - -lanelet::ConstLanelets RouteHandler::getRouteLanelets() const -{ - return route_lanelets_; -} - -lanelet::ConstLanelets RouteHandler::getPreferredLanelets() const -{ - return preferred_lanelets_; -} - -Pose RouteHandler::getStartPose() const -{ - if (!route_ptr_) { - RCLCPP_WARN(logger_, "[Route Handler] getStartPose: Route has not been set yet"); - return Pose(); - } - return route_ptr_->start_pose; -} - -Pose RouteHandler::getOriginalStartPose() const -{ - if (!route_ptr_) { - RCLCPP_WARN(logger_, "[Route Handler] getOriginalStartPose: Route has not been set yet"); - return Pose(); - } - return original_start_pose_; -} - -Pose RouteHandler::getGoalPose() const -{ - if (!route_ptr_) { - RCLCPP_WARN(logger_, "[Route Handler] getGoalPose: Route has not been set yet"); - return Pose(); - } - return route_ptr_->goal_pose; -} - -Pose RouteHandler::getOriginalGoalPose() const -{ - if (!route_ptr_) { - RCLCPP_WARN(logger_, "[Route Handler] getOriginalGoalPose: Route has not been set yet"); - return Pose(); - } - return original_goal_pose_; -} - -lanelet::Id RouteHandler::getGoalLaneId() const -{ - if (!route_ptr_ || route_ptr_->segments.empty()) { - return lanelet::InvalId; - } - - return route_ptr_->segments.back().preferred_primitive.id; -} - -bool RouteHandler::getGoalLanelet(lanelet::ConstLanelet * goal_lanelet) const -{ - const lanelet::Id goal_lane_id = getGoalLaneId(); - for (const auto & llt : route_lanelets_) { - if (llt.id() == goal_lane_id) { - *goal_lanelet = llt; - return true; - } - } - return false; -} - -bool RouteHandler::isInGoalRouteSection(const lanelet::ConstLanelet & lanelet) const -{ - if (!route_ptr_ || route_ptr_->segments.empty()) { - return false; - } - return exists(route_ptr_->segments.back().primitives, lanelet.id()); -} - -lanelet::ConstLanelets RouteHandler::getLaneletsFromIds(const lanelet::Ids & ids) const -{ - lanelet::ConstLanelets lanelets; - lanelets.reserve(ids.size()); - for (const auto & id : ids) { - lanelets.push_back(lanelet_map_ptr_->laneletLayer.get(id)); - } - return lanelets; -} - -lanelet::ConstLanelet RouteHandler::getLaneletsFromId(const lanelet::Id id) const -{ - return lanelet_map_ptr_->laneletLayer.get(id); -} - -bool RouteHandler::isDeadEndLanelet(const lanelet::ConstLanelet & lanelet) const -{ - lanelet::ConstLanelet next_lanelet; - return !getNextLaneletWithinRoute(lanelet, &next_lanelet); -} - -lanelet::ConstLanelets RouteHandler::getLaneChangeableNeighbors( - const lanelet::ConstLanelet & lanelet) const -{ - return lanelet::utils::query::getLaneChangeableNeighbors(routing_graph_ptr_, lanelet); -} - -lanelet::ConstLanelets RouteHandler::getLaneletSequenceAfter( - const lanelet::ConstLanelet & lanelet, const double min_length, const bool only_route_lanes) const -{ - lanelet::ConstLanelets lanelet_sequence_forward; - if (only_route_lanes && !exists(route_lanelets_, lanelet)) { - return lanelet_sequence_forward; - } - - double length = 0; - lanelet::ConstLanelet current_lanelet = lanelet; - while (rclcpp::ok() && length < min_length) { - lanelet::ConstLanelet next_lanelet; - if (!getNextLaneletWithinRoute(current_lanelet, &next_lanelet)) { - if (only_route_lanes) { - break; - } - const auto next_lanes = getNextLanelets(current_lanelet); - if (next_lanes.empty()) { - break; - } - next_lanelet = next_lanes.front(); - } - // loop check - if (lanelet.id() == next_lanelet.id()) { - break; - } - lanelet_sequence_forward.push_back(next_lanelet); - current_lanelet = next_lanelet; - length += - static_cast(boost::geometry::length(next_lanelet.centerline().basicLineString())); - } - - return lanelet_sequence_forward; -} - -lanelet::ConstLanelets RouteHandler::getLaneletSequenceUpTo( - const lanelet::ConstLanelet & lanelet, const double min_length, const bool only_route_lanes) const -{ - lanelet::ConstLanelets lanelet_sequence_backward; - if (only_route_lanes && !exists(route_lanelets_, lanelet)) { - return lanelet_sequence_backward; - } - - lanelet::ConstLanelet current_lanelet = lanelet; - double length = 0; - lanelet::ConstLanelets previous_lanelets; - - auto checkForLoop = - [&lanelet](const lanelet::ConstLanelets & lanelets_to_check, const bool is_route_lanelets) { - if (is_route_lanelets) { - return std::none_of( - lanelets_to_check.begin(), lanelets_to_check.end(), - [lanelet](auto & prev_llt) { return lanelet.id() != prev_llt.id(); }); - } - return std::any_of( - lanelets_to_check.begin(), lanelets_to_check.end(), - [lanelet](auto & prev_llt) { return lanelet.id() == prev_llt.id(); }); - }; - - auto isNewLanelet = [&lanelet, - &lanelet_sequence_backward](const lanelet::ConstLanelet & lanelet_to_check) { - if (lanelet.id() == lanelet_to_check.id()) return false; - return std::none_of( - lanelet_sequence_backward.begin(), lanelet_sequence_backward.end(), - [&lanelet_to_check](auto & backward) { return (backward.id() == lanelet_to_check.id()); }); - }; - - while (rclcpp::ok() && length < min_length) { - previous_lanelets.clear(); - bool is_route_lanelets = true; - if (!getPreviousLaneletsWithinRoute(current_lanelet, &previous_lanelets)) { - if (only_route_lanes) break; - previous_lanelets = getPreviousLanelets(current_lanelet); - if (previous_lanelets.empty()) break; - is_route_lanelets = false; - } - - if (checkForLoop(previous_lanelets, is_route_lanelets)) break; - - for (const auto & prev_lanelet : previous_lanelets) { - if (!isNewLanelet(prev_lanelet) || exists(goal_lanelets_, prev_lanelet)) continue; - lanelet_sequence_backward.push_back(prev_lanelet); - length += - static_cast(boost::geometry::length(prev_lanelet.centerline().basicLineString())); - current_lanelet = prev_lanelet; - break; - } - } - - std::reverse(lanelet_sequence_backward.begin(), lanelet_sequence_backward.end()); - return lanelet_sequence_backward; -} - -lanelet::ConstLanelets RouteHandler::getLaneletSequence( - const lanelet::ConstLanelet & lanelet, const double backward_distance, - const double forward_distance, const bool only_route_lanes) const -{ - Pose current_pose{}; - current_pose.orientation.w = 1; - if (!lanelet.centerline().empty()) { - current_pose.position = lanelet::utils::conversion::toGeomMsgPt(lanelet.centerline().front()); - } - - lanelet::ConstLanelets lanelet_sequence; - if (only_route_lanes && !exists(route_lanelets_, lanelet)) { - return lanelet_sequence; - } - - const lanelet::ConstLanelets lanelet_sequence_forward = std::invoke([&]() { - if (only_route_lanes) { - return getLaneletSequenceAfter(lanelet, forward_distance, only_route_lanes); - } else if (isShoulderLanelet(lanelet)) { - return getShoulderLaneletSequenceAfter(lanelet, forward_distance); - } - return lanelet::ConstLanelets{}; - }); - const lanelet::ConstLanelets lanelet_sequence_backward = std::invoke([&]() { - const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, current_pose); - if (arc_coordinate.length < backward_distance) { - if (only_route_lanes) { - return getLaneletSequenceUpTo(lanelet, backward_distance, only_route_lanes); - } else if (isShoulderLanelet(lanelet)) { - return getShoulderLaneletSequenceUpTo(lanelet, backward_distance); - } - } - return lanelet::ConstLanelets{}; - }); - - // loop check - if (!lanelet_sequence_forward.empty() && !lanelet_sequence_backward.empty()) { - if (lanelet_sequence_backward.back().id() == lanelet_sequence_forward.front().id()) { - return lanelet_sequence_forward; - } - } - lanelet_sequence.insert( - lanelet_sequence.end(), lanelet_sequence_backward.begin(), lanelet_sequence_backward.end()); - lanelet_sequence.push_back(lanelet); - lanelet_sequence.insert( - lanelet_sequence.end(), lanelet_sequence_forward.begin(), lanelet_sequence_forward.end()); - - return lanelet_sequence; -} - -lanelet::ConstLanelets RouteHandler::getLaneletSequence( - const lanelet::ConstLanelet & lanelet, const Pose & current_pose, const double backward_distance, - const double forward_distance, const bool only_route_lanes) const -{ - if (only_route_lanes && !exists(route_lanelets_, lanelet)) { - return {}; - } - - lanelet::ConstLanelets lanelet_sequence_forward = - getLaneletSequenceAfter(lanelet, forward_distance, only_route_lanes); - lanelet::ConstLanelets lanelet_sequence = std::invoke([&]() { - const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, current_pose); - if (arc_coordinate.length < backward_distance) { - return getLaneletSequenceUpTo(lanelet, backward_distance, only_route_lanes); - } - return lanelet::ConstLanelets{}; - }); - - // loop check - if (!lanelet_sequence_forward.empty() && !lanelet_sequence.empty()) { - if (lanelet_sequence.back().id() == lanelet_sequence_forward.front().id()) { - return lanelet_sequence_forward; - } - } - lanelet_sequence.push_back(lanelet); - std::move( - lanelet_sequence_forward.begin(), lanelet_sequence_forward.end(), - std::back_inserter(lanelet_sequence)); - return lanelet_sequence; -} - -lanelet::ConstLanelets RouteHandler::getRoadLaneletsAtPose(const Pose & pose) const -{ - lanelet::ConstLanelets road_lanelets_at_pose; - const lanelet::BasicPoint2d p{pose.position.x, pose.position.y}; - const auto lanelets_at_pose = lanelet_map_ptr_->laneletLayer.search(lanelet::BoundingBox2d(p)); - for (const auto & lanelet_at_pose : lanelets_at_pose) { - // confirm that the pose is inside the lanelet since "search" does an approximation with boxes - const auto is_pose_inside_lanelet = lanelet::geometry::inside(lanelet_at_pose, p); - if (is_pose_inside_lanelet && isRoadLanelet(lanelet_at_pose)) - road_lanelets_at_pose.push_back(lanelet_at_pose); - } - return road_lanelets_at_pose; -} - -std::optional RouteHandler::getFollowingShoulderLanelet( - const lanelet::ConstLanelet & lanelet) const -{ - bool found = false; - const auto & search_point = lanelet.centerline().back().basicPoint2d(); - const auto next_lanelet = lanelet_map_ptr_->laneletLayer.nearestUntil( - search_point, [&](const auto & bbox, const auto & ll) { - if (isShoulderLanelet(ll) && lanelet::geometry::follows(lanelet, ll)) found = true; - // stop search once next shoulder lanelet is found, or the bbox does not touch the search - // point - return found || lanelet::geometry::distance2d(bbox, search_point) > 1e-3; - }); - if (found && next_lanelet.has_value()) return *next_lanelet; - return std::nullopt; -} - -std::optional RouteHandler::getLeftShoulderLanelet( - const lanelet::ConstLanelet & lanelet) const -{ - for (const auto & other_lanelet : - lanelet_map_ptr_->laneletLayer.findUsages(lanelet.leftBound())) { - if (other_lanelet.rightBound() == lanelet.leftBound() && isShoulderLanelet(other_lanelet)) - return other_lanelet; - } - return std::nullopt; -} - -std::optional RouteHandler::getRightShoulderLanelet( - const lanelet::ConstLanelet & lanelet) const -{ - for (const auto & other_lanelet : - lanelet_map_ptr_->laneletLayer.findUsages(lanelet.rightBound())) { - if (other_lanelet.leftBound() == lanelet.rightBound() && isShoulderLanelet(other_lanelet)) - return other_lanelet; - } - return std::nullopt; -} - -lanelet::ConstLanelets RouteHandler::getShoulderLaneletsAtPose(const Pose & pose) const -{ - lanelet::ConstLanelets lanelets_at_pose; - const lanelet::BasicPoint2d p{pose.position.x, pose.position.y}; - const auto candidates_at_pose = lanelet_map_ptr_->laneletLayer.search(lanelet::BoundingBox2d(p)); - for (const auto & candidate : candidates_at_pose) { - // confirm that the pose is inside the lanelet since "search" does an approximation with boxes - const auto is_pose_inside_lanelet = lanelet::geometry::inside(candidate, p); - if (is_pose_inside_lanelet && isShoulderLanelet(candidate)) - lanelets_at_pose.push_back(candidate); - } - return lanelets_at_pose; -} - -lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequenceAfter( - const lanelet::ConstLanelet & lanelet, const double min_length) const -{ - lanelet::ConstLanelets lanelet_sequence_forward; - if (!isShoulderLanelet(lanelet)) return lanelet_sequence_forward; - - double length = 0; - lanelet::ConstLanelet current_lanelet = lanelet; - std::set searched_ids{}; - while (rclcpp::ok() && length < min_length) { - const auto next_lanelet = getFollowingShoulderLanelet(current_lanelet); - if (!next_lanelet) break; - lanelet_sequence_forward.push_back(*next_lanelet); - if (searched_ids.find(next_lanelet->id()) != searched_ids.end()) { - // loop shoulder detected - break; - } - searched_ids.insert(next_lanelet->id()); - current_lanelet = *next_lanelet; - length += - static_cast(boost::geometry::length(next_lanelet->centerline().basicLineString())); - } - - return lanelet_sequence_forward; -} - -std::optional RouteHandler::getPreviousShoulderLanelet( - const lanelet::ConstLanelet & lanelet) const -{ - bool found = false; - const auto & search_point = lanelet.centerline().front().basicPoint2d(); - const auto previous_lanelet = lanelet_map_ptr_->laneletLayer.nearestUntil( - search_point, [&](const auto & bbox, const auto & ll) { - if (isShoulderLanelet(ll) && lanelet::geometry::follows(ll, lanelet)) found = true; - // stop search once prev shoulder lanelet is found, or the bbox does not touch the search - // point - return found || lanelet::geometry::distance2d(bbox, search_point) > 1e-3; - }); - if (found && previous_lanelet.has_value()) return *previous_lanelet; - return std::nullopt; -} - -lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequenceUpTo( - const lanelet::ConstLanelet & lanelet, const double min_length) const -{ - lanelet::ConstLanelets lanelet_sequence_backward; - if (!isShoulderLanelet(lanelet)) return lanelet_sequence_backward; - - double length = 0; - lanelet::ConstLanelet current_lanelet = lanelet; - std::set searched_ids{}; - while (rclcpp::ok() && length < min_length) { - const auto prev_lanelet = getPreviousShoulderLanelet(current_lanelet); - if (!prev_lanelet) break; - - lanelet_sequence_backward.insert(lanelet_sequence_backward.begin(), *prev_lanelet); - if (searched_ids.find(prev_lanelet->id()) != searched_ids.end()) { - // loop shoulder detected - break; - } - searched_ids.insert(prev_lanelet->id()); - current_lanelet = *prev_lanelet; - length += - static_cast(boost::geometry::length(prev_lanelet->centerline().basicLineString())); - } - - return lanelet_sequence_backward; -} - -lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequence( - const lanelet::ConstLanelet & lanelet, const Pose & pose, const double backward_distance, - const double forward_distance) const -{ - lanelet::ConstLanelets lanelet_sequence; - if (!isShoulderLanelet(lanelet)) { - return lanelet_sequence; - } - - lanelet::ConstLanelets lanelet_sequence_forward = - getShoulderLaneletSequenceAfter(lanelet, forward_distance); - const lanelet::ConstLanelets lanelet_sequence_backward = std::invoke([&]() { - const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, pose); - if (arc_coordinate.length < backward_distance) { - return getShoulderLaneletSequenceUpTo(lanelet, backward_distance); - } - return lanelet::ConstLanelets{}; - }); - - // loop check - if (!lanelet_sequence_forward.empty() && !lanelet_sequence_backward.empty()) { - if (lanelet_sequence_backward.back().id() == lanelet_sequence_forward.front().id()) { - return lanelet_sequence_forward; - } - } - lanelet_sequence.insert( - lanelet_sequence.end(), lanelet_sequence_backward.begin(), lanelet_sequence_backward.end()); - - lanelet_sequence.push_back(lanelet); - lanelet_sequence.insert( - lanelet_sequence.end(), lanelet_sequence_forward.begin(), lanelet_sequence_forward.end()); - - return lanelet_sequence; -} - -bool RouteHandler::getClosestLaneletWithinRoute( - const Pose & search_pose, lanelet::ConstLanelet * closest_lanelet) const -{ - return lanelet::utils::query::getClosestLanelet(route_lanelets_, search_pose, closest_lanelet); -} - -bool RouteHandler::getClosestPreferredLaneletWithinRoute( - const Pose & search_pose, lanelet::ConstLanelet * closest_lanelet) const -{ - return lanelet::utils::query::getClosestLanelet( - preferred_lanelets_, search_pose, closest_lanelet); -} - -bool RouteHandler::getClosestLaneletWithConstrainsWithinRoute( - const Pose & search_pose, lanelet::ConstLanelet * closest_lanelet, const double dist_threshold, - const double yaw_threshold) const -{ - return lanelet::utils::query::getClosestLaneletWithConstrains( - route_lanelets_, search_pose, closest_lanelet, dist_threshold, yaw_threshold); -} - -bool RouteHandler::getClosestRouteLaneletFromLanelet( - const Pose & search_pose, const lanelet::ConstLanelet & reference_lanelet, - lanelet::ConstLanelet * closest_lanelet, const double dist_threshold, - const double yaw_threshold) const -{ - lanelet::ConstLanelets previous_lanelets, next_lanelets, lanelet_sequence; - if (getPreviousLaneletsWithinRoute(reference_lanelet, &previous_lanelets)) { - lanelet_sequence = previous_lanelets; - } - - lanelet_sequence.push_back(reference_lanelet); - - if (getNextLaneletsWithinRoute(reference_lanelet, &next_lanelets)) { - lanelet_sequence.insert(lanelet_sequence.end(), next_lanelets.begin(), next_lanelets.end()); - } - - if (lanelet::utils::query::getClosestLaneletWithConstrains( - lanelet_sequence, search_pose, closest_lanelet, dist_threshold, yaw_threshold)) { - return true; - } - - return false; -} - -bool RouteHandler::getNextLaneletsWithinRoute( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelets * next_lanelets) const -{ - if (exists(goal_lanelets_, lanelet)) { - return false; - } - - const auto start_lane_id = route_ptr_->segments.front().preferred_primitive.id; - - const auto following_lanelets = routing_graph_ptr_->following(lanelet); - next_lanelets->clear(); - for (const auto & llt : following_lanelets) { - if (start_lane_id != llt.id() && exists(route_lanelets_, llt)) { - next_lanelets->push_back(llt); - } - } - return !(next_lanelets->empty()); -} - -bool RouteHandler::getNextLaneletWithinRoute( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * next_lanelet) const -{ - lanelet::ConstLanelets next_lanelets{}; - if (getNextLaneletsWithinRoute(lanelet, &next_lanelets)) { - *next_lanelet = next_lanelets.front(); - return true; - } - return false; -} - -lanelet::ConstLanelets RouteHandler::getNextLanelets(const lanelet::ConstLanelet & lanelet) const -{ - return routing_graph_ptr_->following(lanelet); -} - -bool RouteHandler::getPreviousLaneletsWithinRoute( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelets * prev_lanelets) const -{ - if (exists(start_lanelets_, lanelet)) { - return false; - } - const auto candidate_lanelets = routing_graph_ptr_->previous(lanelet); - prev_lanelets->clear(); - for (const auto & llt : candidate_lanelets) { - if (exists(route_lanelets_, llt)) { - prev_lanelets->push_back(llt); - } - } - return !(prev_lanelets->empty()); -} - -lanelet::ConstLanelets RouteHandler::getPreviousLanelets( - const lanelet::ConstLanelet & lanelet) const -{ - return routing_graph_ptr_->previous(lanelet); -} - -std::optional RouteHandler::getRightLanelet( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root, - const bool get_shoulder_lane) const -{ - // right road lanelet of shoulder lanelet - if (isShoulderLanelet(lanelet)) { - const auto right_lanelets = lanelet_map_ptr_->laneletLayer.findUsages(lanelet.rightBound()); - for (const auto & right_lanelet : right_lanelets) - if (isRoadLanelet(right_lanelet)) return right_lanelet; - return std::nullopt; - } - - // right shoulder lanelet - if (get_shoulder_lane) { - const auto right_shoulder_lanelet = getRightShoulderLanelet(lanelet); - if (right_shoulder_lanelet) return *right_shoulder_lanelet; - } - - // routable lane - const auto & right_lane = routing_graph_ptr_->right(lanelet); - if (right_lane) { - return *right_lane; - } - - // non-routable lane (e.g. lane change infeasible) - const auto & adjacent_right_lane = routing_graph_ptr_->adjacentRight(lanelet); - if (adjacent_right_lane) { - return *adjacent_right_lane; - } - - // same root right lanelet - if (!enable_same_root) { - return std::nullopt; - } - - lanelet::ConstLanelets prev_lanelet; - if (!getPreviousLaneletsWithinRoute(lanelet, &prev_lanelet)) { - return std::nullopt; - } - - lanelet::ConstLanelet next_lanelet; - if (!getNextLaneletWithinRoute(lanelet, &next_lanelet)) { - for (const auto & lane : getNextLanelets(prev_lanelet.front())) { - if (lanelet.rightBound().back().id() == lane.leftBound().back().id()) { - return lane; - } - } - return std::nullopt; - } - - const auto next_right_lane = getRightLanelet(next_lanelet, false); - if (!next_right_lane) { - return std::nullopt; - } - - for (const auto & lane : getNextLanelets(prev_lanelet.front())) { - for (const auto & target_lane : getNextLanelets(lane)) { - if (next_right_lane.value().id() == target_lane.id()) { - return lane; - } - } - } - - return std::nullopt; -} - -std::optional RouteHandler::getLeftLanelet( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root, - const bool get_shoulder_lane) const -{ - // left road lanelet of shoulder lanelet - if (isShoulderLanelet(lanelet)) { - const auto left_lanelets = lanelet_map_ptr_->laneletLayer.findUsages(lanelet.leftBound()); - for (const auto & left_lanelet : left_lanelets) - if (isRoadLanelet(left_lanelet)) return left_lanelet; - return std::nullopt; - } - - // left shoulder lanelet - if (get_shoulder_lane) { - const auto left_shoulder_lanelet = getLeftShoulderLanelet(lanelet); - if (left_shoulder_lanelet) return *left_shoulder_lanelet; - } - - // routable lane - const auto & left_lane = routing_graph_ptr_->left(lanelet); - if (left_lane) { - return *left_lane; - } - - // non-routable lane (e.g. lane change infeasible) - const auto & adjacent_left_lane = routing_graph_ptr_->adjacentLeft(lanelet); - if (adjacent_left_lane) { - return *adjacent_left_lane; - } - - // same root right lanelet - if (!enable_same_root) { - return std::nullopt; - } - - lanelet::ConstLanelets prev_lanelet; - if (!getPreviousLaneletsWithinRoute(lanelet, &prev_lanelet)) { - return std::nullopt; - } - - lanelet::ConstLanelet next_lanelet; - if (!getNextLaneletWithinRoute(lanelet, &next_lanelet)) { - for (const auto & lane : getNextLanelets(prev_lanelet.front())) { - if (lanelet.leftBound().back().id() == lane.rightBound().back().id()) { - return lane; - } - } - return std::nullopt; - } - - const auto next_left_lane = getLeftLanelet(next_lanelet, false); - if (!next_left_lane) { - return std::nullopt; - } - - for (const auto & lane : getNextLanelets(prev_lanelet.front())) { - for (const auto & target_lane : getNextLanelets(lane)) { - if (next_left_lane.value().id() == target_lane.id()) { - return lane; - } - } - } - - return std::nullopt; -} - -lanelet::Lanelets RouteHandler::getRightOppositeLanelets( - const lanelet::ConstLanelet & lanelet) const -{ - const auto opposite_candidate_lanelets = - lanelet_map_ptr_->laneletLayer.findUsages(lanelet.rightBound().invert()); - - lanelet::Lanelets opposite_lanelets; - for (const auto & candidate_lanelet : opposite_candidate_lanelets) { - if (candidate_lanelet.leftBound().id() == lanelet.rightBound().id()) { - continue; - } - - opposite_lanelets.push_back(candidate_lanelet); - } - - return opposite_lanelets; -} - -lanelet::ConstLanelets RouteHandler::getAllLeftSharedLinestringLanelets( - const lanelet::ConstLanelet & lane, const bool & include_opposite, - const bool & invert_opposite) const noexcept -{ - lanelet::ConstLanelets linestring_shared; - try { - auto lanelet_at_left = getLeftLanelet(lane); - auto lanelet_at_left_opposite = getLeftOppositeLanelets(lane); - while (lanelet_at_left) { - linestring_shared.push_back(lanelet_at_left.value()); - lanelet_at_left = getLeftLanelet(lanelet_at_left.value()); - if (!lanelet_at_left) { - break; - } - lanelet_at_left_opposite = getLeftOppositeLanelets(lanelet_at_left.value()); - } - - if (!lanelet_at_left_opposite.empty() && include_opposite) { - if (invert_opposite) { - linestring_shared.push_back(lanelet_at_left_opposite.front().invert()); - } else { - linestring_shared.push_back(lanelet_at_left_opposite.front()); - } - auto lanelet_at_right = getRightLanelet(lanelet_at_left_opposite.front()); - while (lanelet_at_right) { - if (invert_opposite) { - linestring_shared.push_back(lanelet_at_right.value().invert()); - } else { - linestring_shared.push_back(lanelet_at_right.value()); - } - lanelet_at_right = getRightLanelet(lanelet_at_right.value()); - } - } - } catch (const std::exception & e) { - std::cerr << "Exception in getAllLeftSharedLinestringLanelets: " << e.what() << std::endl; - return {}; - } catch (...) { - std::cerr << "Unknown exception in getAllLeftSharedLinestringLanelets" << std::endl; - return {}; - } - return linestring_shared; -} - -lanelet::ConstLanelets RouteHandler::getAllRightSharedLinestringLanelets( - const lanelet::ConstLanelet & lane, const bool & include_opposite, - const bool & invert_opposite) const noexcept -{ - lanelet::ConstLanelets linestring_shared; - try { - auto lanelet_at_right = getRightLanelet(lane); - auto lanelet_at_right_opposite = getRightOppositeLanelets(lane); - while (lanelet_at_right) { - linestring_shared.push_back(lanelet_at_right.value()); - lanelet_at_right = getRightLanelet(lanelet_at_right.value()); - if (!lanelet_at_right) { - break; - } - lanelet_at_right_opposite = getRightOppositeLanelets(lanelet_at_right.value()); - } - - if (!lanelet_at_right_opposite.empty() && include_opposite) { - if (invert_opposite) { - linestring_shared.push_back(lanelet_at_right_opposite.front().invert()); - } else { - linestring_shared.push_back(lanelet_at_right_opposite.front()); - } - auto lanelet_at_left = getLeftLanelet(lanelet_at_right_opposite.front()); - while (lanelet_at_left) { - if (invert_opposite) { - linestring_shared.push_back(lanelet_at_left.value().invert()); - } else { - linestring_shared.push_back(lanelet_at_left.value()); - } - lanelet_at_left = getLeftLanelet(lanelet_at_left.value()); - } - } - } catch (const std::exception & e) { - std::cerr << "Exception in getAllRightSharedLinestringLanelets: " << e.what() << std::endl; - return {}; - } catch (...) { - std::cerr << "Unknown exception in getAllRightSharedLinestringLanelets" << std::endl; - return {}; - } - return linestring_shared; -} - -lanelet::Lanelets RouteHandler::getLeftOppositeLanelets(const lanelet::ConstLanelet & lanelet) const -{ - const auto opposite_candidate_lanelets = - lanelet_map_ptr_->laneletLayer.findUsages(lanelet.leftBound().invert()); - - lanelet::Lanelets opposite_lanelets; - for (const auto & candidate_lanelet : opposite_candidate_lanelets) { - if (candidate_lanelet.rightBound().id() == lanelet.leftBound().id()) { - continue; - } - - opposite_lanelets.push_back(candidate_lanelet); - } - - return opposite_lanelets; -} - -lanelet::ConstLanelet RouteHandler::getMostRightLanelet( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root, - const bool get_shoulder_lane) const -{ - // recursively compute the width of the lanes - const auto & same = getRightLanelet(lanelet, enable_same_root, get_shoulder_lane); - - if (same) { - return getMostRightLanelet(same.value(), enable_same_root, get_shoulder_lane); - } - - return lanelet; -} - -lanelet::ConstLanelet RouteHandler::getMostLeftLanelet( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root, - const bool get_shoulder_lane) const -{ - // recursively compute the width of the lanes - const auto & same = getLeftLanelet(lanelet, enable_same_root, get_shoulder_lane); - - if (same) { - return getMostLeftLanelet(same.value(), enable_same_root, get_shoulder_lane); - } - - return lanelet; -} - -std::vector RouteHandler::getPrecedingLaneletSequence( - const lanelet::ConstLanelet & lanelet, const double length, - const lanelet::ConstLanelets & exclude_lanelets) const -{ - return lanelet::utils::query::getPrecedingLaneletSequences( - routing_graph_ptr_, lanelet, length, exclude_lanelets); -} - -std::optional RouteHandler::getLaneChangeTarget( - const lanelet::ConstLanelets & lanelets, const Direction direction) const -{ - for (const auto & lanelet : lanelets) { - const int num = getNumLaneToPreferredLane(lanelet, direction); - if (num == 0) { - continue; - } - - if (direction == Direction::NONE || direction == Direction::RIGHT) { - if (num < 0) { - const auto right_lanes = routing_graph_ptr_->right(lanelet); - if (!!right_lanes) { - return *right_lanes; - } - } - } - - if (direction == Direction::NONE || direction == Direction::LEFT) { - if (num > 0) { - const auto left_lanes = routing_graph_ptr_->left(lanelet); - if (!!left_lanes) { - return *left_lanes; - } - } - } - } - - return std::nullopt; -} - -std::optional RouteHandler::getLaneChangeTargetExceptPreferredLane( - const lanelet::ConstLanelets & lanelets, const Direction direction) const -{ - for (const auto & lanelet : lanelets) { - if (direction == Direction::RIGHT) { - // Get right lanelet if preferred lane is on the left - if (getNumLaneToPreferredLane(lanelet, direction) < 0) { - continue; - } - - const auto right_lanes = routing_graph_ptr_->right(lanelet); - if (!!right_lanes) { - return *right_lanes; - } - } - - if (direction == Direction::LEFT) { - // Get left lanelet if preferred lane is on the right - if (getNumLaneToPreferredLane(lanelet, direction) > 0) { - continue; - } - const auto left_lanes = routing_graph_ptr_->left(lanelet); - if (!!left_lanes) { - return *left_lanes; - } - } - } - - return std::nullopt; -} - -std::optional RouteHandler::getPullOverTarget(const Pose & goal_pose) const -{ - const lanelet::BasicPoint2d p(goal_pose.position.x, goal_pose.position.y); - constexpr auto search_distance = 0.1; - const lanelet::BasicPoint2d offset(search_distance, search_distance); - const auto lanelets_in_range = - lanelet_map_ptr_->laneletLayer.search(lanelet::BoundingBox2d(p - offset, p + offset)); - for (const auto & lanelet : lanelets_in_range) { - const auto is_in_lanelet = lanelet::utils::isInLanelet(goal_pose, lanelet, search_distance); - if (is_in_lanelet && isShoulderLanelet(lanelet)) return lanelet; - } - return std::nullopt; -} - -std::optional RouteHandler::getPullOutStartLane( - const Pose & pose, const double vehicle_width) const -{ - const lanelet::BasicPoint2d p(pose.position.x, pose.position.y); - const auto search_distance = vehicle_width / 2.0; - const lanelet::BasicPoint2d offset(search_distance, search_distance); - const auto lanelets_in_range = - lanelet_map_ptr_->laneletLayer.search(lanelet::BoundingBox2d(p - offset, p + offset)); - for (const auto & lanelet : lanelets_in_range) { - const auto is_in_lanelet = lanelet::utils::isInLanelet(pose, lanelet, search_distance); - if (is_in_lanelet && isShoulderLanelet(lanelet)) return lanelet; - } - return std::nullopt; -} - -int RouteHandler::getNumLaneToPreferredLane( - const lanelet::ConstLanelet & lanelet, const Direction direction) const -{ - if (exists(preferred_lanelets_, lanelet)) { - return 0; - } - - if ((direction == Direction::NONE) || (direction == Direction::RIGHT)) { - int num{0}; - const auto & right_lanes = - lanelet::utils::query::getAllNeighborsRight(routing_graph_ptr_, lanelet); - for (const auto & right : right_lanes) { - num--; - if (exists(preferred_lanelets_, right)) { - return num; - } - } - } - - if ((direction == Direction::NONE) || (direction == Direction::LEFT)) { - const auto & left_lanes = - lanelet::utils::query::getAllNeighborsLeft(routing_graph_ptr_, lanelet); - int num = 0; - for (const auto & left : left_lanes) { - num++; - if (exists(preferred_lanelets_, left)) { - return num; - } - } - } - - return 0; // TODO(Horibe) check if return 0 is appropriate. -} - -std::vector RouteHandler::getLateralIntervalsToPreferredLane( - const lanelet::ConstLanelet & lanelet, const Direction direction) const -{ - if (exists(preferred_lanelets_, lanelet)) { - return {}; - } - - if ((direction == Direction::NONE) || (direction == Direction::RIGHT)) { - std::vector intervals; - lanelet::ConstLanelet current_lanelet = lanelet; - const auto & right_lanes = - lanelet::utils::query::getAllNeighborsRight(routing_graph_ptr_, lanelet); - for (const auto & right : right_lanes) { - const auto & current_centerline = current_lanelet.centerline(); - const auto & next_centerline = right.centerline(); - if (current_centerline.empty() || next_centerline.empty()) { - return intervals; - } - const auto & curr_pt = current_centerline.front(); - const auto & next_pt = next_centerline.front(); - intervals.push_back(-lanelet::geometry::distance2d(to2D(curr_pt), to2D(next_pt))); - - if (exists(preferred_lanelets_, right)) { - return intervals; - } - current_lanelet = right; - } - } - - if ((direction == Direction::NONE) || (direction == Direction::LEFT)) { - std::vector intervals; - lanelet::ConstLanelet current_lanelet = lanelet; - const auto & left_lanes = - lanelet::utils::query::getAllNeighborsLeft(routing_graph_ptr_, lanelet); - for (const auto & left : left_lanes) { - const auto & current_centerline = current_lanelet.centerline(); - const auto & next_centerline = left.centerline(); - if (current_centerline.empty() || next_centerline.empty()) { - return intervals; - } - const auto & curr_pt = current_centerline.front(); - const auto & next_pt = next_centerline.front(); - intervals.push_back(lanelet::geometry::distance2d(to2D(curr_pt), to2D(next_pt))); - - if (exists(preferred_lanelets_, left)) { - return intervals; - } - current_lanelet = left; - } - } - - return {}; -} - -PathWithLaneId RouteHandler::getCenterLinePath( - const lanelet::ConstLanelets & lanelet_sequence, const double s_start, const double s_end, - bool use_exact) const -{ - using lanelet::utils::to2D; - using lanelet::utils::conversion::toLaneletPoint; - - // 1. calculate reference points by lanelets' centerline - // NOTE: This vector aligns the vector lanelet_sequence. - std::vector piecewise_ref_points_vec; - const auto add_ref_point = [&](const auto & pt) { - piecewise_ref_points_vec.back().push_back( - ReferencePoint{false, lanelet::utils::conversion::toGeomMsgPt(pt)}); - }; - double s = 0; - for (const auto & llt : lanelet_sequence) { - piecewise_ref_points_vec.push_back(std::vector{}); - - const lanelet::ConstLineString3d centerline = llt.centerline(); - for (size_t i = 0; i < centerline.size(); i++) { - const auto & pt = centerline[i]; - const lanelet::ConstPoint3d next_pt = - (i + 1 < centerline.size()) ? centerline[i + 1] : centerline[i]; - const double distance = lanelet::geometry::distance2d(to2D(pt), to2D(next_pt)); - - if (s < s_start && s + distance > s_start) { - const auto p = use_exact ? get3DPointFrom2DArcLength(lanelet_sequence, s_start) : pt; - add_ref_point(p); - } - if (s >= s_start && s <= s_end) { - add_ref_point(pt); - } - if (s < s_end && s + distance > s_end) { - const auto p = use_exact ? get3DPointFrom2DArcLength(lanelet_sequence, s_end) : next_pt; - add_ref_point(p); - } - s += distance; - } - } - - // 2. calculate waypoints - const auto waypoints_vec = calcWaypointsVector(lanelet_sequence); - - // 3. remove points in the margin of the waypoint - for (const auto & waypoints : waypoints_vec) { - for (auto piecewise_waypoints_itr = waypoints.begin(); - piecewise_waypoints_itr != waypoints.end(); ++piecewise_waypoints_itr) { - const auto & piecewise_waypoints = piecewise_waypoints_itr->piecewise_waypoints; - const auto lanelet_id = piecewise_waypoints_itr->lanelet_id; - - // calculate index of lanelet_sequence which corresponds to piecewise_waypoints. - const auto lanelet_sequence_itr = std::find_if( - lanelet_sequence.begin(), lanelet_sequence.end(), - [&](const auto & lanelet) { return lanelet.id() == lanelet_id; }); - if (lanelet_sequence_itr == lanelet_sequence.end()) { - continue; - } - const size_t piecewise_waypoints_lanelet_sequence_index = - std::distance(lanelet_sequence.begin(), lanelet_sequence_itr); - - // calculate reference points by waypoints - const auto ref_points_by_waypoints = convertWaypointsToReferencePoints(piecewise_waypoints); - - // update reference points by waypoints - const bool is_first_waypoint_contained = piecewise_waypoints_itr == waypoints.begin(); - const bool is_last_waypoint_contained = piecewise_waypoints_itr == waypoints.end() - 1; - if (is_first_waypoint_contained || is_last_waypoint_contained) { - // If piecewise_waypoints_itr is the end (first or last) of piecewise_waypoints - - const auto original_piecewise_ref_points = - piecewise_ref_points_vec.at(piecewise_waypoints_lanelet_sequence_index); - - // define current_piecewise_ref_points, and initialize it with waypoints - auto & current_piecewise_ref_points = - piecewise_ref_points_vec.at(piecewise_waypoints_lanelet_sequence_index); - current_piecewise_ref_points = ref_points_by_waypoints; - if (is_first_waypoint_contained) { - // add original reference points to current reference points, and remove reference points - // overlapped with waypoints - current_piecewise_ref_points.insert( - current_piecewise_ref_points.begin(), original_piecewise_ref_points.begin(), - original_piecewise_ref_points.end()); - const bool is_removing_direction_forward = false; - removeOverlappedCenterlineWithWaypoints( - piecewise_ref_points_vec, piecewise_waypoints, lanelet_sequence, - piecewise_waypoints_lanelet_sequence_index, is_removing_direction_forward); - } - if (is_last_waypoint_contained) { - // add original reference points to current reference points, and remove reference points - // overlapped with waypoints - current_piecewise_ref_points.insert( - current_piecewise_ref_points.end(), original_piecewise_ref_points.begin(), - original_piecewise_ref_points.end()); - const bool is_removing_direction_forward = true; - removeOverlappedCenterlineWithWaypoints( - piecewise_ref_points_vec, piecewise_waypoints, lanelet_sequence, - piecewise_waypoints_lanelet_sequence_index, is_removing_direction_forward); - } - } else { - // If piecewise_waypoints_itr is not the end (first or last) of piecewise_waypoints, - // remove all the reference points and add waypoints. - piecewise_ref_points_vec.at(piecewise_waypoints_lanelet_sequence_index) = - ref_points_by_waypoints; - } - } - } - - // 4. convert to PathPointsWithLaneIds - PathWithLaneId reference_path{}; - for (size_t lanelet_idx = 0; lanelet_idx < lanelet_sequence.size(); ++lanelet_idx) { - const auto & lanelet = lanelet_sequence.at(lanelet_idx); - const float speed_limit = - static_cast(traffic_rules_ptr_->speedLimit(lanelet).speedLimit.value()); - - const auto & piecewise_ref_points = piecewise_ref_points_vec.at(lanelet_idx); - for (const auto & ref_point : piecewise_ref_points) { - PathPointWithLaneId p{}; - p.point.pose.position = ref_point.point; - p.lane_ids.push_back(lanelet.id()); - p.point.longitudinal_velocity_mps = speed_limit; - reference_path.points.push_back(p); - } - } - reference_path = removeOverlappingPoints(reference_path); - - // append a point only when having one point so that yaw calculation would work - if (reference_path.points.size() == 1) { - const lanelet::Id lane_id = reference_path.points.front().lane_ids.front(); - const auto lanelet = lanelet_map_ptr_->laneletLayer.get(lane_id); - const auto point = reference_path.points.front().point.pose.position; - const auto lane_yaw = lanelet::utils::getLaneletAngle(lanelet, point); - PathPointWithLaneId path_point{}; - path_point.lane_ids.push_back(lane_id); - constexpr double ds{0.1}; - path_point.point.pose.position.x = point.x + ds * std::cos(lane_yaw); - path_point.point.pose.position.y = point.y + ds * std::sin(lane_yaw); - path_point.point.pose.position.z = point.z; - reference_path.points.push_back(path_point); - } - - // set angle - for (size_t i = 0; i < reference_path.points.size(); i++) { - double angle{0.0}; - const auto & pts = reference_path.points; - if (i + 1 < reference_path.points.size()) { - angle = autoware_utils::calc_azimuth_angle( - pts.at(i).point.pose.position, pts.at(i + 1).point.pose.position); - } else if (i != 0) { - angle = autoware_utils::calc_azimuth_angle( - pts.at(i - 1).point.pose.position, pts.at(i).point.pose.position); - } - reference_path.points.at(i).point.pose.orientation = - autoware_utils::create_quaternion_from_yaw(angle); - } - - return reference_path; -} - -std::vector RouteHandler::calcWaypointsVector( - const lanelet::ConstLanelets & lanelet_sequence) const -{ - std::vector waypoints_vec; - for (size_t lanelet_idx = 0; lanelet_idx < lanelet_sequence.size(); ++lanelet_idx) { - const auto & lanelet = lanelet_sequence.at(lanelet_idx); - if (!lanelet.hasAttribute("waypoints")) { - continue; - } - - // generate piecewise waypoints - PiecewiseWaypoints piecewise_waypoints{lanelet.id(), {}}; - const auto waypoints_id = lanelet.attribute("waypoints").asId().value(); - for (const auto & waypoint : lanelet_map_ptr_->lineStringLayer.get(waypoints_id)) { - piecewise_waypoints.piecewise_waypoints.push_back( - lanelet::utils::conversion::toGeomMsgPt(waypoint)); - } - if (piecewise_waypoints.piecewise_waypoints.empty()) { - continue; - } - - // check if the piecewise waypoints are connected to the previous piecewise waypoints - if ( - !waypoints_vec.empty() && isClose( - waypoints_vec.back().back().piecewise_waypoints.back(), - piecewise_waypoints.piecewise_waypoints.front(), 1.0)) { - waypoints_vec.back().push_back(piecewise_waypoints); - } else { - // add new waypoints - Waypoints new_waypoints; - new_waypoints.push_back(piecewise_waypoints); - waypoints_vec.push_back(new_waypoints); - } - } - - return waypoints_vec; -} - -void RouteHandler::removeOverlappedCenterlineWithWaypoints( - std::vector & piecewise_ref_points_vec, - const std::vector & piecewise_waypoints, - const lanelet::ConstLanelets & lanelet_sequence, - const size_t piecewise_waypoints_lanelet_sequence_index, - const bool is_removing_direction_forward) const -{ - const double waypoints_interpolation_arc_margin_ratio = 10.0; - - // calculate arc length threshold - const double front_arc_length_threshold = [&]() { - const auto front_waypoint_arc_coordinates = calcArcCoordinates( - lanelet_sequence.at(piecewise_waypoints_lanelet_sequence_index), piecewise_waypoints.front()); - const double lanelet_arc_length = boost::geometry::length( - lanelet::utils::to2D(lanelet_sequence.at(piecewise_waypoints_lanelet_sequence_index) - .centerline() - .basicLineString())); - return -lanelet_arc_length + front_waypoint_arc_coordinates.length - - std::abs(front_waypoint_arc_coordinates.distance) * - waypoints_interpolation_arc_margin_ratio; - }(); - const double back_arc_length_threshold = [&]() { - const auto back_waypoint_arc_coordinates = calcArcCoordinates( - lanelet_sequence.at(piecewise_waypoints_lanelet_sequence_index), piecewise_waypoints.back()); - return back_waypoint_arc_coordinates.length + std::abs(back_waypoint_arc_coordinates.distance) * - waypoints_interpolation_arc_margin_ratio; - }(); - - double offset_arc_length = 0.0; - int target_lanelet_sequence_index = static_cast(piecewise_waypoints_lanelet_sequence_index); - while (isIndexWithinVector(lanelet_sequence, target_lanelet_sequence_index)) { - auto & target_piecewise_ref_points = piecewise_ref_points_vec.at(target_lanelet_sequence_index); - const double target_lanelet_arc_length = boost::geometry::length(lanelet::utils::to2D( - lanelet_sequence.at(target_lanelet_sequence_index).centerline().basicLineString())); - - // search overlapped ref points in the target lanelet - std::vector overlapped_ref_points_indices{}; - const bool is_search_finished = [&]() { - for (size_t ref_point_unsigned_index = 0; - ref_point_unsigned_index < target_piecewise_ref_points.size(); - ++ref_point_unsigned_index) { - const size_t ref_point_index = - is_removing_direction_forward - ? ref_point_unsigned_index - : target_piecewise_ref_points.size() - 1 - ref_point_unsigned_index; - const auto & ref_point = target_piecewise_ref_points.at(ref_point_index); - - // skip waypoints - if (ref_point.is_waypoint) { - if ( - target_lanelet_sequence_index == - static_cast(piecewise_waypoints_lanelet_sequence_index)) { - overlapped_ref_points_indices.clear(); - } - continue; - } - - const double ref_point_arc_length = - (is_removing_direction_forward ? 0 : -target_lanelet_arc_length) + - calcArcCoordinates(lanelet_sequence.at(target_lanelet_sequence_index), ref_point.point) - .length; - if (is_removing_direction_forward) { - if (back_arc_length_threshold < offset_arc_length + ref_point_arc_length) { - return true; - } - } else { - if (offset_arc_length + ref_point_arc_length < front_arc_length_threshold) { - return true; - } - } - - overlapped_ref_points_indices.push_back(ref_point_index); - } - return false; - }(); - - // remove overlapped indices from ref_points - removeIndicesFromVector(target_piecewise_ref_points, overlapped_ref_points_indices); - - // break if searching overlapped centerline is finished. - if (is_search_finished) { - break; - } - - target_lanelet_sequence_index += is_removing_direction_forward ? 1 : -1; - offset_arc_length = (is_removing_direction_forward ? 1 : -1) * target_lanelet_arc_length; - } -} - -bool RouteHandler::isMapMsgReady() const -{ - return is_map_msg_ready_; -} - -lanelet::routing::RoutingGraphPtr RouteHandler::getRoutingGraphPtr() const -{ - return routing_graph_ptr_; -} - -lanelet::traffic_rules::TrafficRulesPtr RouteHandler::getTrafficRulesPtr() const -{ - return traffic_rules_ptr_; -} - -std::shared_ptr RouteHandler::getOverallGraphPtr() - const -{ - return overall_graphs_ptr_; -} - -lanelet::LaneletMapPtr RouteHandler::getLaneletMapPtr() const -{ - return lanelet_map_ptr_; -} - -bool RouteHandler::isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const -{ - return lanelet.hasAttribute(lanelet::AttributeName::Subtype) && - lanelet.attribute(lanelet::AttributeName::Subtype) == "road_shoulder"; -} - -bool RouteHandler::isRouteLanelet(const lanelet::ConstLanelet & lanelet) const -{ - return lanelet::utils::contains(route_lanelets_, lanelet); -} - -bool RouteHandler::isRoadLanelet(const lanelet::ConstLanelet & lanelet) const -{ - return lanelet.hasAttribute(lanelet::AttributeName::Subtype) && - lanelet.attribute(lanelet::AttributeName::Subtype) == lanelet::AttributeValueString::Road; -} - -lanelet::ConstLanelets RouteHandler::getPreviousLaneletSequence( - const lanelet::ConstLanelets & lanelet_sequence) const -{ - lanelet::ConstLanelets previous_lanelet_sequence; - if (lanelet_sequence.empty()) { - return previous_lanelet_sequence; - } - - const auto & first_lane = lanelet_sequence.front(); - if (exists(start_lanelets_, first_lane)) { - return previous_lanelet_sequence; - } - - auto right_relations = - lanelet::utils::query::getAllNeighborsRight(routing_graph_ptr_, first_lane); - for (const auto & right : right_relations) { - previous_lanelet_sequence = getLaneletSequenceUpTo(right); - if (!previous_lanelet_sequence.empty()) { - return previous_lanelet_sequence; - } - } - - auto left_relations = lanelet::utils::query::getAllNeighborsLeft(routing_graph_ptr_, first_lane); - for (const auto & left : left_relations) { - previous_lanelet_sequence = getLaneletSequenceUpTo(left); - if (!previous_lanelet_sequence.empty()) { - return previous_lanelet_sequence; - } - } - return previous_lanelet_sequence; -} - -lanelet::ConstLanelets RouteHandler::getNeighborsWithinRoute( - const lanelet::ConstLanelet & lanelet) const -{ - const lanelet::ConstLanelets neighbor_lanelets = - lanelet::utils::query::getAllNeighbors(routing_graph_ptr_, lanelet); - lanelet::ConstLanelets neighbors_within_route; - for (const auto & llt : neighbor_lanelets) { - if (exists(route_lanelets_, llt)) { - neighbors_within_route.push_back(llt); - } - } - return neighbors_within_route; -} - -bool RouteHandler::planPathLaneletsBetweenCheckpoints( - const Pose & start_checkpoint, const Pose & goal_checkpoint, - lanelet::ConstLanelets * path_lanelets, const bool consider_no_drivable_lanes) const -{ - // Find lanelets for start point. First, find all lanelets containing the start point to calculate - // all possible route later. It fails when the point is not located on any road lanelet (e.g. the - // start point is located out of any lanelets or road_shoulder lanelet which is not contained in - // road lanelet). In that case, find the closest lanelet instead (within some maximum range). - constexpr auto max_search_range = 20.0; - auto start_lanelets = getRoadLaneletsAtPose(start_checkpoint); - lanelet::ConstLanelet start_lanelet; - if (start_lanelets.empty()) { - const lanelet::BasicPoint2d p(start_checkpoint.position.x, start_checkpoint.position.y); - const lanelet::BoundingBox2d bbox( - lanelet::BasicPoint2d(p.x() - max_search_range, p.y() - max_search_range), - lanelet::BasicPoint2d(p.x() + max_search_range, p.y() + max_search_range)); - // std::as_const(*ptr) to use the const version of the search function - auto candidates = std::as_const(*lanelet_map_ptr_).laneletLayer.search(bbox); - candidates.erase( - std::remove_if( - candidates.begin(), candidates.end(), [&](const auto & l) { return !isRoadLanelet(l); }), - candidates.end()); - if (lanelet::utils::query::getClosestLanelet(candidates, start_checkpoint, &start_lanelet)) - start_lanelets = {start_lanelet}; - } - if (start_lanelets.empty()) { - RCLCPP_WARN_STREAM( - logger_, "Failed to find current lanelet." - << std::endl - << " - start checkpoint: " << toString(start_checkpoint) << std::endl - << " - goal checkpoint: " << toString(goal_checkpoint) << std::endl); - return false; - } - - // Find lanelets for goal point. - lanelet::ConstLanelet goal_lanelet; - const lanelet::BasicPoint2d p(goal_checkpoint.position.x, goal_checkpoint.position.y); - const lanelet::BoundingBox2d bbox( - lanelet::BasicPoint2d(p.x() - max_search_range, p.y() - max_search_range), - lanelet::BasicPoint2d(p.x() + max_search_range, p.y() + max_search_range)); - auto candidates = std::as_const(*lanelet_map_ptr_).laneletLayer.search(bbox); - candidates.erase( - std::remove_if( - candidates.begin(), candidates.end(), [&](const auto & l) { return !isRoadLanelet(l); }), - candidates.end()); - // if there is a lanelet in candidates that is included in previous preferred lanelets, - // set it as goal_lanelet. - // this is to select the same lane as much as possible when rerouting with waypoints. - const auto findGoalClosestPreferredLanelet = [&]() -> std::optional { - lanelet::ConstLanelet closest_lanelet; - if (getClosestPreferredLaneletWithinRoute(goal_checkpoint, &closest_lanelet)) { - if (std::find(candidates.begin(), candidates.end(), closest_lanelet) != candidates.end()) { - if (lanelet::utils::isInLanelet(goal_checkpoint, closest_lanelet)) { - return closest_lanelet; - } - } - } - if (getClosestLaneletWithinRoute(goal_checkpoint, &closest_lanelet)) { - if (std::find(candidates.begin(), candidates.end(), closest_lanelet) != candidates.end()) { - if (lanelet::utils::isInLanelet(goal_checkpoint, closest_lanelet)) { - std::stringstream preferred_lanelets_str; - for (const auto & preferred_lanelet : preferred_lanelets_) { - preferred_lanelets_str << preferred_lanelet.id() << ", "; - } - RCLCPP_WARN( - logger_, - "Failed to find reroute on previous preferred lanelets %s, but on previous route " - "segment %ld still", - preferred_lanelets_str.str().c_str(), closest_lanelet.id()); - return closest_lanelet; - } - } - } - return std::nullopt; - }; - if (auto closest_lanelet = findGoalClosestPreferredLanelet()) { - goal_lanelet = closest_lanelet.value(); - } else { - if (!lanelet::utils::query::getClosestLanelet(candidates, goal_checkpoint, &goal_lanelet)) { - RCLCPP_WARN_STREAM( - logger_, "Failed to find closest lanelet." - << std::endl - << " - start checkpoint: " << toString(start_checkpoint) << std::endl - << " - goal checkpoint: " << toString(goal_checkpoint) << std::endl); - return false; - } - } - - lanelet::Optional optional_route; - lanelet::routing::LaneletPath shortest_path; - bool is_route_found = false; - - double smallest_angle_diff = std::numeric_limits::max(); - constexpr double yaw_threshold = M_PI / 2.0; - - for (const auto & st_llt : start_lanelets) { - // check if the angle difference between start_checkpoint and start lanelet center line - // orientation is in yaw_threshold range - double lanelet_angle = lanelet::utils::getLaneletAngle(st_llt, start_checkpoint.position); - double pose_yaw = tf2::getYaw(start_checkpoint.orientation); - double angle_diff = std::abs(autoware_utils::normalize_radian(lanelet_angle - pose_yaw)); - - bool is_proper_angle = angle_diff <= std::abs(yaw_threshold); - - optional_route = routing_graph_ptr_->getRoute(st_llt, goal_lanelet, 0); - if (!optional_route || !is_proper_angle) { - RCLCPP_ERROR_STREAM( - logger_, "Failed to find a proper route!" - << std::endl - << " - start checkpoint: " << toString(start_checkpoint) << std::endl - << " - goal checkpoint: " << toString(goal_checkpoint) << std::endl - << " - start lane id: " << st_llt.id() << std::endl - << " - goal lane id: " << goal_lanelet.id() << std::endl); - continue; - } - is_route_found = true; - lanelet::ConstLanelet preferred_lane{}; - if (getClosestPreferredLaneletWithinRoute(start_checkpoint, &preferred_lane)) { - if (st_llt.id() == preferred_lane.id()) { - shortest_path = optional_route->shortestPath(); - start_lanelet = st_llt; - break; - } - } - if (angle_diff < smallest_angle_diff) { - smallest_angle_diff = angle_diff; - shortest_path = optional_route->shortestPath(); - start_lanelet = st_llt; - } - } - - if (is_route_found) { - lanelet::routing::LaneletPath path; - path = [&]() -> lanelet::routing::LaneletPath { - if (consider_no_drivable_lanes && hasNoDrivableLaneInPath(shortest_path)) { - const auto drivable_lane_path = findDrivableLanePath(start_lanelet, goal_lanelet); - if (drivable_lane_path) return *drivable_lane_path; - } - return shortest_path; - }(); - - path_lanelets->reserve(path.size()); - for (const auto & llt : path) { - path_lanelets->push_back(llt); - } - } - - return is_route_found; -} - -std::vector RouteHandler::createMapSegments( - const lanelet::ConstLanelets & path_lanelets) const -{ - const auto main_path = getMainLanelets(path_lanelets); - - std::vector route_sections; - - if (main_path.empty()) { - return route_sections; - } - - route_sections.reserve(main_path.size()); - for (const auto & main_llt : main_path) { - LaneletSegment route_section_msg; - const lanelet::ConstLanelets route_section_lanelets = getNeighborsWithinRoute(main_llt); - route_section_msg.preferred_primitive.id = main_llt.id(); - route_section_msg.primitives.reserve(route_section_lanelets.size()); - for (const auto & section_llt : route_section_lanelets) { - LaneletPrimitive p; - p.id = section_llt.id(); - p.primitive_type = "lane"; - route_section_msg.primitives.push_back(p); - } - route_sections.push_back(route_section_msg); - } - return route_sections; -} - -lanelet::ConstLanelets RouteHandler::getMainLanelets( - const lanelet::ConstLanelets & path_lanelets) const -{ - auto lanelet_sequence = getLaneletSequence(path_lanelets.back()); - - RCLCPP_INFO_STREAM(logger_, "getMainLanelets: lanelet_sequence = " << lanelet_sequence); - - lanelet::ConstLanelets main_lanelets; - while (!lanelet_sequence.empty()) { - main_lanelets.insert(main_lanelets.begin(), lanelet_sequence.begin(), lanelet_sequence.end()); - lanelet_sequence = getPreviousLaneletSequence(lanelet_sequence); - } - return main_lanelets; -} - -bool RouteHandler::isNoDrivableLane(const lanelet::ConstLanelet & llt) -{ - const std::string no_drivable_lane_attribute = llt.attributeOr("no_drivable_lane", "no"); - return no_drivable_lane_attribute == "yes"; -} - -bool RouteHandler::hasNoDrivableLaneInPath(const lanelet::routing::LaneletPath & path) const -{ - for (const auto & llt : path) - if (isNoDrivableLane(llt)) return true; - return false; -} - -std::optional RouteHandler::findDrivableLanePath( - const lanelet::ConstLanelet & start_lanelet, const lanelet::ConstLanelet & goal_lanelet) const -{ - // we create a new routing graph with infinite cost on no drivable lanes - const auto drivable_routing_graph_ptr = lanelet::routing::RoutingGraph::build( - *lanelet_map_ptr_, *traffic_rules_ptr_, - lanelet::routing::RoutingCostPtrs{std::make_shared()}); - const auto route = drivable_routing_graph_ptr->getRoute(start_lanelet, goal_lanelet, 0); - if (route) return route->shortestPath(); - return {}; -} - -Pose RouteHandler::get_pose_from_2d_arc_length( - const lanelet::ConstLanelets & lanelet_sequence, const double s) const -{ - double accumulated_distance2d = 0; - for (const auto & llt : lanelet_sequence) { - const auto & centerline = llt.centerline(); - for (auto it = centerline.begin(); std::next(it) != centerline.end(); ++it) { - const auto pt = *it; - const auto next_pt = *std::next(it); - const double distance2d = lanelet::geometry::distance2d(to2D(pt), to2D(next_pt)); - if (accumulated_distance2d + distance2d > s) { - const double ratio = (s - accumulated_distance2d) / distance2d; - const auto interpolated_pt = pt.basicPoint() * (1 - ratio) + next_pt.basicPoint() * ratio; - const auto yaw = std::atan2(next_pt.y() - pt.y(), next_pt.x() - pt.x()); - Pose pose; - pose.position = create_point(interpolated_pt.x(), interpolated_pt.y(), interpolated_pt.z()); - pose.orientation = create_quaternion_from_yaw(yaw); - return pose; - } - accumulated_distance2d += distance2d; - } - } - return Pose{}; -} -} // namespace autoware::route_handler diff --git a/planning/autoware_route_handler/test/test_route_handler.cpp b/planning/autoware_route_handler/test/test_route_handler.cpp deleted file mode 100644 index 8052131b25076..0000000000000 --- a/planning/autoware_route_handler/test/test_route_handler.cpp +++ /dev/null @@ -1,316 +0,0 @@ -// Copyright 2024 TIER IV -// -// 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. - -#include "test_route_handler.hpp" - -#include "autoware_utils/geometry/geometry.hpp" - -#include - -#include - -namespace autoware::route_handler::test -{ -TEST_F(TestRouteHandler, isRouteHandlerReadyTest) -{ - ASSERT_TRUE(route_handler_->isHandlerReady()); -} - -TEST_F(TestRouteHandler, checkIfIDReturned) -{ - const auto lanelet1 = route_handler_->getLaneletsFromId(4785); - const auto is_lanelet1_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet1); - ASSERT_TRUE(is_lanelet1_in_goal_route_section); - - const auto lanelet2 = route_handler_->getLaneletsFromId(4780); - const auto is_lanelet2_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet2); - ASSERT_FALSE(is_lanelet2_in_goal_route_section); -} - -TEST_F(TestRouteHandler, getGoalLaneId) -{ - lanelet::ConstLanelet goal_lane; - - const auto goal_lane_obtained = route_handler_->getGoalLanelet(&goal_lane); - ASSERT_TRUE(goal_lane_obtained); - ASSERT_EQ(goal_lane.id(), 5088); -} - -TEST_F(TestRouteHandler, getLaneletSequenceWhenOverlappingRoute) -{ - set_route_handler("overlap_map.osm"); - ASSERT_FALSE(route_handler_->isHandlerReady()); - - geometry_msgs::msg::Pose start_pose; - geometry_msgs::msg::Pose goal_pose; - start_pose.position = autoware_utils::create_point(3728.870361, 73739.281250, 0); - start_pose.orientation = autoware_utils::create_quaternion(0, 0, -0.513117, 0.858319); - goal_pose.position = autoware_utils::create_point(3729.961182, 73727.328125, 0); - goal_pose.orientation = autoware_utils::create_quaternion(0, 0, 0.234831, 0.972036); - - lanelet::ConstLanelets path_lanelets; - ASSERT_TRUE( - route_handler_->planPathLaneletsBetweenCheckpoints(start_pose, goal_pose, &path_lanelets)); - ASSERT_EQ(path_lanelets.size(), 12); - ASSERT_EQ(path_lanelets.front().id(), 168); - ASSERT_EQ(path_lanelets.back().id(), 345); - - route_handler_->setRouteLanelets(path_lanelets); - ASSERT_TRUE(route_handler_->isHandlerReady()); - - rclcpp::init(0, nullptr); - ASSERT_TRUE(rclcpp::ok()); - - auto lanelet_sequence = route_handler_->getLaneletSequence(path_lanelets.back()); - ASSERT_EQ(lanelet_sequence.size(), 12); - ASSERT_EQ(lanelet_sequence.front().id(), 168); - ASSERT_EQ(lanelet_sequence.back().id(), 345); -} - -TEST_F(TestRouteHandler, getClosestRouteLaneletFromLaneletWhenOverlappingRoute) -{ - set_route_handler("overlap_map.osm"); - set_test_route("overlap_test_route.yaml"); - ASSERT_TRUE(route_handler_->isHandlerReady()); - - geometry_msgs::msg::Pose reference_pose; - geometry_msgs::msg::Pose search_pose; - - lanelet::ConstLanelet reference_lanelet; - reference_pose.position = autoware_utils::create_point(3730.88, 73735.3, 0); - reference_pose.orientation = autoware_utils::create_quaternion(0, 0, -0.504626, 0.863338); - const auto found_reference_lanelet = - route_handler_->getClosestLaneletWithinRoute(reference_pose, &reference_lanelet); - ASSERT_TRUE(found_reference_lanelet); - ASSERT_EQ(reference_lanelet.id(), 168); - - lanelet::ConstLanelet closest_lanelet; - search_pose.position = autoware_utils::create_point(3736.89, 73730.8, 0); - search_pose.orientation = autoware_utils::create_quaternion(0, 0, 0.223244, 0.974763); - bool found_lanelet = route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lanelet); - ASSERT_TRUE(found_lanelet); - ASSERT_EQ(closest_lanelet.id(), 345); - - found_lanelet = route_handler_->getClosestRouteLaneletFromLanelet( - search_pose, reference_lanelet, &closest_lanelet, dist_threshold, yaw_threshold); - ASSERT_TRUE(found_lanelet); - ASSERT_EQ(closest_lanelet.id(), 277); -} - -TEST_F(TestRouteHandler, CheckLaneIsInGoalRouteSection) -{ - const auto lane = route_handler_->getLaneletsFromId(4785); - const auto is_lane_in_goal_route_section = route_handler_->isInGoalRouteSection(lane); - ASSERT_TRUE(is_lane_in_goal_route_section); -} - -TEST_F(TestRouteHandler, CheckLaneIsNotInGoalRouteSection) -{ - const auto lane = route_handler_->getLaneletsFromId(4780); - const auto is_lane_in_goal_route_section = route_handler_->isInGoalRouteSection(lane); - ASSERT_FALSE(is_lane_in_goal_route_section); -} - -TEST_F(TestRouteHandler, checkGetLaneletSequence) -{ - const auto current_pose = autoware::test_utils::createPose(-50.0, 1.75, 0.0, 0.0, 0.0, 0.0); - - lanelet::ConstLanelet closest_lanelet; - const auto found_closest_lanelet = route_handler_->getClosestLaneletWithConstrainsWithinRoute( - current_pose, &closest_lanelet, dist_threshold, yaw_threshold); - ASSERT_TRUE(found_closest_lanelet); - ASSERT_EQ(closest_lanelet.id(), 4765ul); - - const auto current_lanes = route_handler_->getLaneletSequence( - closest_lanelet, current_pose, backward_path_length, forward_path_length); - - ASSERT_EQ(current_lanes.size(), 6ul); - ASSERT_EQ(current_lanes.at(0).id(), 4765ul); - ASSERT_EQ(current_lanes.at(1).id(), 4770ul); - ASSERT_EQ(current_lanes.at(2).id(), 4775ul); - ASSERT_EQ(current_lanes.at(3).id(), 4424ul); - ASSERT_EQ(current_lanes.at(4).id(), 4780ul); - ASSERT_EQ(current_lanes.at(5).id(), 4785ul); -} - -TEST_F(TestRouteHandler, checkLateralIntervalToPreferredLaneWhenLaneChangeToRight) -{ - const auto current_lanes = get_current_lanes(); - - // The input is within expectation. - // this lane is of preferred lane type - std::for_each(current_lanes.begin(), current_lanes.begin() + 3, [&](const auto & lane) { - const auto result = route_handler_->getLateralIntervalsToPreferredLane(lane, Direction::RIGHT); - ASSERT_EQ(result.size(), 0ul); - }); - - // The input is within expectation. - // this alternative lane is a subset of preferred lane route section - std::for_each(current_lanes.begin() + 3, current_lanes.end(), [&](const auto & lane) { - const auto result = route_handler_->getLateralIntervalsToPreferredLane(lane, Direction::RIGHT); - ASSERT_EQ(result.size(), 1ul); - EXPECT_DOUBLE_EQ(result.at(0), -3.5); - }); - - // The input is within expectation. - // Although Direction::NONE, the function should still return result similar to - // Direction::RIGHT. - std::for_each(current_lanes.begin(), current_lanes.begin() + 3, [&](const auto & lane) { - const auto result = route_handler_->getLateralIntervalsToPreferredLane(lane, Direction::NONE); - ASSERT_EQ(result.size(), 0ul); - }); - - // The input is within expectation. - // Although Direction::NONE is provided, the function should behave similarly to - // Direction::RIGHT. - std::for_each(current_lanes.begin() + 3, current_lanes.end(), [&](const auto & lane) { - const auto result = route_handler_->getLateralIntervalsToPreferredLane(lane, Direction::NONE); - ASSERT_EQ(result.size(), 1ul); - EXPECT_DOUBLE_EQ(result.at(0), -3.5); - }); -} - -TEST_F(TestRouteHandler, checkLateralIntervalToPreferredLaneUsingUnexpectedResults) -{ - const auto current_lanes = get_current_lanes(); - - std::for_each(current_lanes.begin(), current_lanes.end(), [&](const auto & lane) { - const auto result = route_handler_->getLateralIntervalsToPreferredLane(lane, Direction::LEFT); - ASSERT_EQ(result.size(), 0ul); - }); -} - -TEST_F(TestRouteHandler, testGetCenterLinePath) -{ - const auto current_lanes = route_handler_->getLaneletsFromIds({4424, 4780, 4785}); - { - // The input is within expectation. - const auto center_line_path = route_handler_->getCenterLinePath(current_lanes, 0.0, 50.0); - ASSERT_EQ(center_line_path.points.size(), 51); // 26 + 26 - 1(overlapped) - ASSERT_EQ(center_line_path.points.back().lane_ids.size(), 2); - ASSERT_EQ(center_line_path.points.back().lane_ids.at(0), 4780); - ASSERT_EQ(center_line_path.points.back().lane_ids.at(1), 4785); - } - { - // The input is in middle of range. - const auto center_line_path = route_handler_->getCenterLinePath(current_lanes, 14.5, 60.5); - ASSERT_EQ(center_line_path.points.size(), 48); - ASSERT_EQ(center_line_path.points.front().lane_ids.size(), 1); - ASSERT_EQ(center_line_path.points.back().lane_ids.size(), 1); - ASSERT_EQ(center_line_path.points.front().lane_ids.at(0), 4424); - ASSERT_EQ(center_line_path.points.back().lane_ids.at(0), 4785); - } - { - // The input is broken. - // s_start is negative, and s_end is over the boundary. - const auto center_line_path = route_handler_->getCenterLinePath(current_lanes, -1.0, 200.0); - ASSERT_EQ(center_line_path.points.size(), 76); // 26 + 26 + 26 - 2(overlapped) - ASSERT_EQ(center_line_path.points.front().lane_ids.size(), 1); - ASSERT_EQ(center_line_path.points.front().lane_ids.at(0), 4424); - ASSERT_EQ(center_line_path.points.back().lane_ids.size(), 1); - ASSERT_EQ(center_line_path.points.back().lane_ids.at(0), 4785); - } -} -TEST_F(TestRouteHandler, DISABLED_testGetCenterLinePathWhenLanesIsNotConnected) -{ - // broken current lanes. 4424 and 4785 are not connected directly. - const auto current_lanes = route_handler_->getLaneletsFromIds({4424, 4780, 4785}); - - // The input is broken. Test is disabled because it doesn't pass. - const auto center_line_path = route_handler_->getCenterLinePath(current_lanes, 0.0, 75.0); - ASSERT_EQ(center_line_path.points.size(), 26); // 26 + 26 + 26 - 2(overlapped) - ASSERT_EQ(center_line_path.points.front().lane_ids.size(), 1); - ASSERT_EQ(center_line_path.points.front().lane_ids.at(0), 4424); - ASSERT_EQ(center_line_path.points.back().lane_ids.size(), 1); - ASSERT_EQ(center_line_path.points.back().lane_ids.at(0), 4424); -} - -TEST_F(TestRouteHandler, getClosestLaneletWithinRouteWhenPointsInRoute) -{ - auto get_closest_lanelet_within_route = - [&](double x, double y, double z) -> std::optional { - const auto pose = autoware::test_utils::createPose(x, y, z, 0.0, 0.0, 0.0); - lanelet::ConstLanelet closest_lanelet; - const auto closest_lane_obtained = - route_handler_->getClosestLaneletWithinRoute(pose, &closest_lanelet); - if (!closest_lane_obtained) { - return std::nullopt; - } - return closest_lanelet.id(); - }; - - ASSERT_TRUE(get_closest_lanelet_within_route(-0.5, 1.75, 0).has_value()); - ASSERT_EQ(get_closest_lanelet_within_route(-0.5, 1.75, 0).value(), 4775ul); - - ASSERT_TRUE(get_closest_lanelet_within_route(-0.01, 1.75, 0).has_value()); - ASSERT_EQ(get_closest_lanelet_within_route(-0.01, 1.75, 0).value(), 4775ul); - - ASSERT_TRUE(get_closest_lanelet_within_route(0.0, 1.75, 0).has_value()); - ASSERT_EQ(get_closest_lanelet_within_route(0.0, 1.75, 0).value(), 4775ul); - - ASSERT_TRUE(get_closest_lanelet_within_route(0.01, 1.75, 0).has_value()); - ASSERT_EQ(get_closest_lanelet_within_route(0.01, 1.75, 0).value(), 4424ul); - - ASSERT_TRUE(get_closest_lanelet_within_route(0.5, 1.75, 0).has_value()); - ASSERT_EQ(get_closest_lanelet_within_route(0.5, 1.75, 0).value(), 4424ul); -} - -TEST_F(TestRouteHandler, testGetLaneChangeTargetLanes) -{ - { - // The input is within expectation. - // There exist no lane changing lane since both 4770 and 4775 are preferred lane. - const auto current_lanes = route_handler_->getLaneletsFromIds({4770, 4775}); - const auto lane_change_lane = - route_handler_->getLaneChangeTarget(current_lanes, Direction::RIGHT); - ASSERT_FALSE(lane_change_lane.has_value()); - } - - { - // The input is within expectation. - // There exist lane changing lane since 4424 is subset of preferred lane 9598. - const auto current_lanes = route_handler_->getLaneletsFromIds({4775, 4424}); - const auto lane_change_lane = - route_handler_->getLaneChangeTarget(current_lanes, Direction::RIGHT); - EXPECT_TRUE(lane_change_lane.has_value()); - ASSERT_EQ(lane_change_lane.value().id(), 9598ul); - } - - { - // The input is within expectation. - // There is a lane-changing lane. Within the maximum current lanes, there is an alternative lane - // to the preferred lane. Therefore, the lane-changing lane exists. - const auto current_lanes = get_current_lanes(); - const auto lane_change_lane = route_handler_->getLaneChangeTarget(current_lanes); - ASSERT_TRUE(lane_change_lane.has_value()); - ASSERT_EQ(lane_change_lane.value().id(), 9598ul); - } -} - -TEST_F(TestRouteHandler, testGetShoulderLaneletsAtPose) -{ - set_route_handler("overlap_map.osm"); - - geometry_msgs::msg::Pose pose; - pose.position.x = 3719.5; - pose.position.y = 73765.6; - auto shoulder_lanelets = route_handler_->getShoulderLaneletsAtPose(pose); - ASSERT_FALSE(shoulder_lanelets.empty()); - ASSERT_EQ(shoulder_lanelets.front().id(), 359ul); - - pose.position.y = 73768.6; - shoulder_lanelets = route_handler_->getShoulderLaneletsAtPose(pose); - ASSERT_TRUE(shoulder_lanelets.empty()); -} -} // namespace autoware::route_handler::test diff --git a/planning/autoware_route_handler/test/test_route_handler.hpp b/planning/autoware_route_handler/test/test_route_handler.hpp deleted file mode 100644 index 1b15b539e2001..0000000000000 --- a/planning/autoware_route_handler/test/test_route_handler.hpp +++ /dev/null @@ -1,110 +0,0 @@ -// Copyright 2024 TIER IV -// -// 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 TEST_ROUTE_HANDLER_HPP_ -#define TEST_ROUTE_HANDLER_HPP_ - -#include "autoware_test_utils/autoware_test_utils.hpp" -#include "autoware_test_utils/mock_data_parser.hpp" -#include "gtest/gtest.h" - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include -#include -#include -namespace autoware::route_handler::test -{ - -using autoware::test_utils::get_absolute_path_to_lanelet_map; -using autoware::test_utils::get_absolute_path_to_route; -using autoware_map_msgs::msg::LaneletMapBin; -class TestRouteHandler : public ::testing::Test -{ -public: - TestRouteHandler() - { - set_route_handler("2km_test.osm"); - try { - set_test_route(lane_change_right_test_route_filename); - } catch (const std::exception & e) { - std::cerr << e.what() << '\n'; - } - } - - TestRouteHandler(const TestRouteHandler &) = delete; - TestRouteHandler(TestRouteHandler &&) = delete; - TestRouteHandler & operator=(const TestRouteHandler &) = delete; - TestRouteHandler & operator=(TestRouteHandler &&) = delete; - ~TestRouteHandler() override = default; - - void set_route_handler(const std::string & lanelet_map_filename) - { - route_handler_.reset(); - const auto lanelet2_path = - get_absolute_path_to_lanelet_map(autoware_test_utils_dir, lanelet_map_filename); - const auto map_bin_msg = - autoware::test_utils::make_map_bin_msg(lanelet2_path, center_line_resolution); - route_handler_ = std::make_shared(map_bin_msg); - } - - void set_test_route(const std::string & route_filename) - { - const auto rh_test_route = - get_absolute_path_to_route(autoware_route_handler_dir, route_filename); - if ( - const auto route_opt = - autoware::test_utils::parse>(rh_test_route)) { - route_handler_->setRoute(*route_opt); - } else { - throw std::runtime_error( - "Failed to parse YAML file: " + rh_test_route + ". The file might be corrupted."); - } - } - - lanelet::ConstLanelets get_current_lanes() - { - const auto current_pose = autoware::test_utils::createPose(-50.0, 1.75, 0.0, 0.0, 0.0, 0.0); - lanelet::ConstLanelet closest_lanelet; - [[maybe_unused]] const auto found_closest_lanelet = - route_handler_->getClosestLaneletWithConstrainsWithinRoute( - current_pose, &closest_lanelet, dist_threshold, yaw_threshold); - return route_handler_->getLaneletSequence( - closest_lanelet, current_pose, backward_path_length, forward_path_length); - } - - std::shared_ptr route_handler_; - std::string autoware_test_utils_dir{"autoware_test_utils"}; - std::string autoware_route_handler_dir{"autoware_route_handler"}; - std::string lane_change_right_test_route_filename{"lane_change_test_route.yaml"}; - - static constexpr double center_line_resolution{5.0}; - static constexpr double dist_threshold{3.0}; - static constexpr double yaw_threshold{1.045}; - static constexpr double backward_path_length{5.0}; - static constexpr double forward_path_length{300.0}; -}; -} // namespace autoware::route_handler::test - -#endif // TEST_ROUTE_HANDLER_HPP_ diff --git a/planning/autoware_route_handler/test_route/lane_change_test_route.yaml b/planning/autoware_route_handler/test_route/lane_change_test_route.yaml deleted file mode 100644 index 8b4c423c622a0..0000000000000 --- a/planning/autoware_route_handler/test_route/lane_change_test_route.yaml +++ /dev/null @@ -1,93 +0,0 @@ -header: - stamp: - sec: 1715936953 - nanosec: 67206425 - frame_id: map -start_pose: - position: - x: -50.0 - y: 1.75 - z: 0.0 - orientation: - x: 0.0 - y: 0.0 - z: 0.0 - w: 1.0 -goal_pose: - position: - x: 70.0 - y: -1.75 - z: 0.0 - orientation: - x: 0.0 - y: 0.0 - z: 0.0 - w: 1.0 -segments: - - preferred_primitive: - id: 4765 - primitive_type: "" - primitives: - - id: 4765 - primitive_type: lane - - id: 9590 - primitive_type: lane - - preferred_primitive: - id: 4770 - primitive_type: "" - primitives: - - id: 4770 - primitive_type: lane - - id: 5072 - primitive_type: lane - - preferred_primitive: - id: 4775 - primitive_type: "" - primitives: - - id: 4775 - primitive_type: lane - - id: 9594 - primitive_type: lane - - preferred_primitive: - id: 9598 - primitive_type: "" - primitives: - - id: 4424 - primitive_type: lane - - id: 9598 - primitive_type: lane - - preferred_primitive: - id: 5084 - primitive_type: "" - primitives: - - id: 4780 - primitive_type: lane - - id: 5084 - primitive_type: lane - - preferred_primitive: - id: 5088 - primitive_type: "" - primitives: - - id: 4785 - primitive_type: lane - - id: 5088 - primitive_type: lane -uuid: - uuid: - - 231 - - 254 - - 143 - - 227 - - 194 - - 8 - - 220 - - 88 - - 30 - - 194 - - 172 - - 147 - - 127 - - 143 - - 176 - - 133 -allow_modification: false diff --git a/planning/autoware_route_handler/test_route/overlap_test_route.yaml b/planning/autoware_route_handler/test_route/overlap_test_route.yaml deleted file mode 100644 index 595d22f4204eb..0000000000000 --- a/planning/autoware_route_handler/test_route/overlap_test_route.yaml +++ /dev/null @@ -1,117 +0,0 @@ -header: - stamp: - sec: 1715936953 - nanosec: 67206425 - frame_id: map -start_pose: - position: - x: 3728.8 - y: 73739.2 - z: 0.0 - orientation: - x: 0.0 - y: 0.0 - z: -0.513117 - w: 0.858319 -goal_pose: - position: - x: 3729.961182 - y: 73727.328125 - z: 0.0 - orientation: - x: 0.0 - y: 0.0 - z: 0.234831 - w: 0.972036 -segments: - - preferred_primitive: - id: 168 - primitive_type: "" - primitives: - - id: 168 - primitive_type: lane - - preferred_primitive: - id: 277 - primitive_type: "" - primitives: - - id: 277 - primitive_type: lane - - preferred_primitive: - id: 282 - primitive_type: "" - primitives: - - id: 282 - primitive_type: lane - - preferred_primitive: - id: 287 - primitive_type: "" - primitives: - - id: 287 - primitive_type: lane - - preferred_primitive: - id: 292 - primitive_type: "" - primitives: - - id: 292 - primitive_type: lane - - preferred_primitive: - id: 297 - primitive_type: "" - primitives: - - id: 297 - primitive_type: lane - - preferred_primitive: - id: 302 - primitive_type: "" - primitives: - - id: 302 - primitive_type: lane - - preferred_primitive: - id: 307 - primitive_type: "" - primitives: - - id: 307 - primitive_type: lane - - preferred_primitive: - id: 312 - primitive_type: "" - primitives: - - id: 312 - primitive_type: lane - - preferred_primitive: - id: 317 - primitive_type: "" - primitives: - - id: 317 - primitive_type: lane - - preferred_primitive: - id: 322 - primitive_type: "" - primitives: - - id: 322 - primitive_type: lane - - preferred_primitive: - id: 345 - primitive_type: "" - primitives: - - id: 345 - primitive_type: lane -uuid: - uuid: - - 231 - - 254 - - 143 - - 227 - - 194 - - 8 - - 220 - - 88 - - 30 - - 194 - - 172 - - 147 - - 127 - - 143 - - 176 - - 133 -allow_modification: false diff --git a/planning/autoware_rtc_interface/CHANGELOG.rst b/planning/autoware_rtc_interface/CHANGELOG.rst index ecbfaec56e7b5..3536ee7dcdff3 100644 --- a/planning/autoware_rtc_interface/CHANGELOG.rst +++ b/planning/autoware_rtc_interface/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_rtc_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,40 +25,40 @@ Changelog for package autoware_rtc_interface 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(autoware_rtc_interface): fix bugprone-branch-clone (`#9698 `_) +* fix(autoware_rtc_interface): fix bugprone-branch-clone (`#9698 `_) * Contributors: Fumiya Watanabe, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_rtc_interface): fix dependency (`#9237 `_) -* fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) +* fix(autoware_rtc_interface): fix dependency (`#9237 `_) +* fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) * fix rtc_interface * fix test condition --------- -* feat(rtc_interface): add requested field (`#9202 `_) +* feat(rtc_interface): add requested field (`#9202 `_) * add requested feature * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> @@ -63,20 +69,20 @@ Changelog for package autoware_rtc_interface 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_rtc_interface): fix dependency (`#9237 `_) -* fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) +* fix(autoware_rtc_interface): fix dependency (`#9237 `_) +* fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) * fix rtc_interface * fix test condition --------- -* feat(rtc_interface): add requested field (`#9202 `_) +* feat(rtc_interface): add requested field (`#9202 `_) * add requested feature * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> @@ -87,32 +93,32 @@ Changelog for package autoware_rtc_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(rtc_interface): update cooperateStatus state transition (`#8883 `_) +* fix(rtc_interface): update cooperateStatus state transition (`#8883 `_) fix state transition for failure/success -* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) +* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) * update rtc state transition * remove transition from failuer and succeeded * fix * check initial state for cooperate status * change rtc cooperate status according to module status --------- -* feat(rtc_inteface): add function to check force deactivate (`#8221 `_) +* feat(rtc_inteface): add function to check force deactivate (`#8221 `_) add function to check for deactivation -* fix(autoware_rtc_interface): fix constParameterReference (`#8042 `_) +* fix(autoware_rtc_interface): fix constParameterReference (`#8042 `_) * fix:constParameterReference * fix: clang format * fix:constParameterReference --------- -* fix(rtc_interface): fix build error (`#8111 `_) +* fix(rtc_interface): fix build error (`#8111 `_) * fix * fix format --------- -* fix(bpp, rtc_interface): fix state transition (`#7743 `_) +* fix(bpp, rtc_interface): fix state transition (`#7743 `_) * fix(rtc_interface): check rtc state * fix(bpp_interface): check rtc state * feat(rtc_interface): print --------- -* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) +* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) * add force execution for static obstacle avoidance * fix * erase unused function in RTC interface @@ -121,20 +127,20 @@ Changelog for package autoware_rtc_interface * add warn throtthle and move code block * fix --------- -* docs(planning): fix wrong link (`#7751 `_) +* docs(planning): fix wrong link (`#7751 `_) * fix page link * fix out of lane link * fix * fix cost map generator link --------- -* docs(rtc_replayer): fix wrong link (`#7714 `_) +* docs(rtc_replayer): fix wrong link (`#7714 `_) * fix link for rtc_replayer * delete RTC replayer header * fix --------- -* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) Co-authored-by: Fumiya Watanabe -* refactor(rtc_interface)!: prefix package and namespace with autoware (`#7321 `_) +* refactor(rtc_interface)!: prefix package and namespace with autoware (`#7321 `_) refactor(rtc_interface): add autoware prefix * Contributors: Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Satoshi OTA, Yutaka Kondo, kobayu858 diff --git a/planning/autoware_rtc_interface/package.xml b/planning/autoware_rtc_interface/package.xml index b479eb1cb237f..72a8a7b48eef7 100644 --- a/planning/autoware_rtc_interface/package.xml +++ b/planning/autoware_rtc_interface/package.xml @@ -1,7 +1,7 @@ autoware_rtc_interface - 0.42.0 + 0.43.0 The autoware_rtc_interface package Fumiya Watanabe diff --git a/planning/autoware_scenario_selector/CHANGELOG.rst b/planning/autoware_scenario_selector/CHANGELOG.rst index ac4f20b937bb0..b2409d6977ced 100644 --- a/planning/autoware_scenario_selector/CHANGELOG.rst +++ b/planning/autoware_scenario_selector/CHANGELOG.rst @@ -2,12 +2,19 @@ Changelog for package autoware_scenario_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* Contributors: Hayato Mizushima, NorahXiong, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (`#10180 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (`#10180 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +54,7 @@ Changelog for package autoware_scenario_selector 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,36 +63,36 @@ Changelog for package autoware_scenario_selector 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_scenario_selector): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_scenario_selector (`#9914 `_) +* feat(autoware_scenario_selector): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_scenario_selector (`#9914 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_scenario_selector -* fix(autoware_scenario_selector): fix bugprone-branch-clone (`#9699 `_) +* fix(autoware_scenario_selector): fix bugprone-branch-clone (`#9699 `_) fix: bugprone-error * Contributors: Fumiya Watanabe, Vishal Chauhan, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* feat(costmap_generator, scenario_selector): improve freespace planning stability (`#9579 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(costmap_generator, scenario_selector): improve freespace planning stability (`#9579 `_) * discretize updating grid center position by size of grid resolution * modify logic for switching to lane driving in scenario selector * fix spelling --------- -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -95,9 +102,9 @@ Changelog for package autoware_scenario_selector 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -108,14 +115,14 @@ Changelog for package autoware_scenario_selector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) * refactor free space planner subscribers * implement scenario switching for edge cases * fix scenario selector test @@ -126,8 +133,8 @@ Changelog for package autoware_scenario_selector * improve near target logic * use timer based implementation for obstacle check --------- -* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -136,14 +143,14 @@ Changelog for package autoware_scenario_selector Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(scenario_selector): rename to include/autoware/{package_name} (`#7512 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* feat(scenario_selector): rename to include/autoware/{package_name} (`#7512 `_) +* 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 @@ -155,8 +162,8 @@ Changelog for package autoware_scenario_selector * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* feat(scenario_selector): use polling subscribers (`#7412 `_) -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* feat(scenario_selector): use polling subscribers (`#7412 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -165,7 +172,7 @@ Changelog for package autoware_scenario_selector * fix formats * keep header and source file name as before --------- -* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) +* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) * Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, mkquda 0.26.0 (2024-04-03) diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml index a83e67c5d4a70..b971acfe5672e 100644 --- a/planning/autoware_scenario_selector/package.xml +++ b/planning/autoware_scenario_selector/package.xml @@ -2,7 +2,7 @@ autoware_scenario_selector - 0.42.0 + 0.43.0 The autoware_scenario_selector ROS 2 package Taiki Tanaka Tomoya Kimura diff --git a/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp index 693bdf1c20009..09728a94aeba7 100644 --- a/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp +++ b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp @@ -15,7 +15,7 @@ #include "autoware/scenario_selector/node.hpp" #include -#include +#include #include #include diff --git a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst index 8f97499388998..99d424ee83753 100644 --- a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst +++ b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst @@ -2,15 +2,24 @@ Changelog for package autoware_surround_obstacle_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, NorahXiong, Ryohsuke Mitsudome, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +28,7 @@ Changelog for package autoware_surround_obstacle_checker 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -43,44 +52,44 @@ Changelog for package autoware_surround_obstacle_checker * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(autoware_surround_obstacle_checker): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_surround_obstacle_checker (`#9915 `_) +* feat(autoware_surround_obstacle_checker): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_surround_obstacle_checker (`#9915 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_surround_obstacle_checker * Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* ci(pre-commit): autoupdate (`#8949 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* ci(pre-commit): autoupdate (`#8949 `_) Co-authored-by: M. Fatih Cırıt -* fix(surround_obstacle_checker)!: remove stop reason (`#9450 `_) +* fix(surround_obstacle_checker)!: remove stop reason (`#9450 `_) fix(surround_obstacle_checker): remove stop reason * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_surround_obstacle_checker): fix clang-diagnostic-unused-private-field (`#9399 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_surround_obstacle_checker): fix clang-diagnostic-unused-private-field (`#9399 `_) * fix: clang-diagnostic-unused-private-field * refactor: fmt * refactor: fmt * refactor: fmt * fix: hpp --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -90,9 +99,9 @@ Changelog for package autoware_surround_obstacle_checker 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -103,26 +112,26 @@ Changelog for package autoware_surround_obstacle_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* test(surround_obstacle_checker): add unit tests (`#9039 `_) +* test(surround_obstacle_checker): add unit tests (`#9039 `_) * refactor: isStopRequired * test: write test for isStopRequired * refactor: use universe utils * fix: shutdown --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(autoware_surround_obstacle_checker): fix unusedFunction (`#8774 `_) +* fix(autoware_surround_obstacle_checker): fix unusedFunction (`#8774 `_) fix:unusedFunction -* feat(surround_obstacle_checker): integrate generate_parameter_library (`#8719 `_) +* feat(surround_obstacle_checker): integrate generate_parameter_library (`#8719 `_) * add generate_parameter_library to package * add parameter file generator script * use mapped parameters @@ -133,25 +142,25 @@ Changelog for package autoware_surround_obstacle_checker * fix variable shadowing --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_surround_obstacle_checker): fix passedByValue (`#8206 `_) +* fix(autoware_surround_obstacle_checker): fix passedByValue (`#8206 `_) fix:passedByValue -* fix(autoware_surround_obstacle_checker): fix constVariableReference (`#8059 `_) +* fix(autoware_surround_obstacle_checker): fix constVariableReference (`#8059 `_) fix:constVariableReference -* fix(autoware_surround_obstacle_checker): fix funcArgNamesDifferent (`#8020 `_) +* fix(autoware_surround_obstacle_checker): fix funcArgNamesDifferent (`#8020 `_) fix:funcArgNamesDifferent -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(surround_obstacle_checker): remove include directory (`#7507 `_) +* feat(surround_obstacle_checker): remove include directory (`#7507 `_) * feat(surround_obstacle_checker): remove include directory * fix * fix --------- -* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) +* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) set single depth sensor data qos for pointlcoud polling subscribers -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -186,7 +195,7 @@ Changelog for package autoware_surround_obstacle_checker * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) +* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) * fix(autoware_surround_obstacle_checker): rename * fix(autoware_surround_obstacle_checker): rename header * fix(launch): update package name diff --git a/planning/autoware_surround_obstacle_checker/README.md b/planning/autoware_surround_obstacle_checker/README.md index fbe749f2eec08..b863ee87d5c70 100644 --- a/planning/autoware_surround_obstacle_checker/README.md +++ b/planning/autoware_surround_obstacle_checker/README.md @@ -86,15 +86,15 @@ As mentioned in stop condition section, it prevents chattering by changing thres ### Output -| Name | Type | Description | -| --------------------------------------- | ----------------------------------------------------- | ------------------------------------------------------------------------------------- | -| `~/output/velocity_limit_clear_command` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command | -| `~/output/max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | Velocity limit command | -| `~/output/no_start_reason` | `diagnostic_msgs::msg::DiagnosticStatus` | No start reason | -| `~/debug/marker` | `visualization_msgs::msg::MarkerArray` | Marker for visualization | -| `~/debug/footprint` | `geometry_msgs::msg::PolygonStamped` | Ego vehicle base footprint for visualization | -| `~/debug/footprint_offset` | `geometry_msgs::msg::PolygonStamped` | Ego vehicle footprint with `surround_check_distance` offset for visualization | -| `~/debug/footprint_recover_offset` | `geometry_msgs::msg::PolygonStamped` | Ego vehicle footprint with `surround_check_recover_distance` offset for visualization | +| Name | Type | Description | +| --------------------------------------- | ----------------------------------------------------------------- | ------------------------------------------------------------------------------------- | +| `~/output/velocity_limit_clear_command` | `autoware_internal_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command | +| `~/output/max_velocity` | `autoware_internal_planning_msgs::msg::VelocityLimit` | Velocity limit command | +| `~/output/no_start_reason` | `diagnostic_msgs::msg::DiagnosticStatus` | No start reason | +| `~/debug/marker` | `visualization_msgs::msg::MarkerArray` | Marker for visualization | +| `~/debug/footprint` | `geometry_msgs::msg::PolygonStamped` | Ego vehicle base footprint for visualization | +| `~/debug/footprint_offset` | `geometry_msgs::msg::PolygonStamped` | Ego vehicle footprint with `surround_check_distance` offset for visualization | +| `~/debug/footprint_recover_offset` | `geometry_msgs::msg::PolygonStamped` | Ego vehicle footprint with `surround_check_recover_distance` offset for visualization | ## Parameters diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml index 78282cf143d7f..fb663d24c84fd 100644 --- a/planning/autoware_surround_obstacle_checker/package.xml +++ b/planning/autoware_surround_obstacle_checker/package.xml @@ -2,7 +2,7 @@ autoware_surround_obstacle_checker - 0.42.0 + 0.43.0 The autoware_surround_obstacle_checker package Satoshi Ota Go Sakayori @@ -14,6 +14,7 @@ autoware_cmake eigen3_cmake_module + autoware_internal_planning_msgs autoware_motion_utils autoware_perception_msgs autoware_planning_factor_interface diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp index 67e2f34177090..2cc16f8a433e5 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp @@ -146,8 +146,8 @@ void SurroundObstacleCheckerDebugNode::publish() /* publish stop reason for autoware api */ if (stop_pose_ptr_ != nullptr) { planning_factor_interface_->add( - 0.0, *stop_pose_ptr_, tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}); + 0.0, *stop_pose_ptr_, autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}); } planning_factor_interface_->publish(); diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp index 0569c6815a252..216bad212a648 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp @@ -19,9 +19,9 @@ #include #include +#include #include #include -#include #include #include @@ -34,10 +34,10 @@ namespace autoware::surround_obstacle_checker { using autoware::vehicle_info_utils::VehicleInfo; +using autoware_internal_planning_msgs::msg::ControlPoint; +using autoware_internal_planning_msgs::msg::PlanningFactor; +using autoware_internal_planning_msgs::msg::PlanningFactorArray; using geometry_msgs::msg::PolygonStamped; -using tier4_planning_msgs::msg::ControlPoint; -using tier4_planning_msgs::msg::PlanningFactor; -using tier4_planning_msgs::msg::PlanningFactorArray; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; diff --git a/planning/autoware_surround_obstacle_checker/src/node.hpp b/planning/autoware_surround_obstacle_checker/src/node.hpp index 3ed1f5081ae1d..7768783eddffb 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.hpp +++ b/planning/autoware_surround_obstacle_checker/src/node.hpp @@ -25,13 +25,13 @@ #include #include +#include +#include #include #include #include #include #include -#include -#include #include #include @@ -50,10 +50,10 @@ namespace autoware::surround_obstacle_checker using autoware::motion_utils::VehicleStopChecker; using autoware::vehicle_info_utils::VehicleInfo; +using autoware_internal_planning_msgs::msg::VelocityLimit; +using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand; using autoware_perception_msgs::msg::PredictedObjects; using autoware_perception_msgs::msg::Shape; -using tier4_planning_msgs::msg::VelocityLimit; -using tier4_planning_msgs::msg::VelocityLimitClearCommand; using Obstacle = std::pair; diff --git a/planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja.md b/planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja.md index b19f556e59830..ffae1ac563f8d 100644 --- a/planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja.md +++ b/planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja.md @@ -86,12 +86,12 @@ Stop condition の項で述べたように、状態によって障害物判定 ### Output -| Name | Type | Description | -| --------------------------------------- | ----------------------------------------------------- | ---------------------------- | -| `~/output/velocity_limit_clear_command` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command | -| `~/output/max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | Velocity limit command | -| `~/output/no_start_reason` | `diagnostic_msgs::msg::DiagnosticStatus` | No start reason | -| `~/debug/marker` | `visualization_msgs::msg::MarkerArray` | Marker for visualization | +| Name | Type | Description | +| --------------------------------------- | ----------------------------------------------------------------- | ---------------------------- | +| `~/output/velocity_limit_clear_command` | `autoware_internal_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command | +| `~/output/max_velocity` | `autoware_internal_planning_msgs::msg::VelocityLimit` | Velocity limit command | +| `~/output/no_start_reason` | `diagnostic_msgs::msg::DiagnosticStatus` | No start reason | +| `~/debug/marker` | `visualization_msgs::msg::MarkerArray` | Marker for visualization | ## Parameters diff --git a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp index 3951532ed0df0..f942f9a43e0bd 100644 --- a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp +++ b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp @@ -15,7 +15,7 @@ #include "../src/node.hpp" #include -#include +#include #include #include diff --git a/planning/autoware_velocity_smoother/CHANGELOG.rst b/planning/autoware_velocity_smoother/CHANGELOG.rst index 36edc5ec87451..3401b6336d9f8 100644 --- a/planning/autoware_velocity_smoother/CHANGELOG.rst +++ b/planning/autoware_velocity_smoother/CHANGELOG.rst @@ -2,12 +2,22 @@ Changelog for package autoware_velocity_smoother ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat(path_optimizer): additional failure logging and failure mode handling (`#10276 `_) + MRM when MPT fails +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* Contributors: Arjun Jagdish Ram, Hayato Mizushima, NorahXiong, Ryohsuke Mitsudome, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +57,7 @@ Changelog for package autoware_velocity_smoother 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,11 +66,11 @@ Changelog for package autoware_velocity_smoother 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(velocity_smoother): introduce diagnostics (`#9933 `_) +* feat(velocity_smoother): introduce diagnostics (`#9933 `_) * feat(velocity_smoother): introduce diagnostics * fix --------- -* feat(velocity_smoother): use autoware internal Stamped messages (`#9749 `_) +* feat(velocity_smoother): use autoware internal Stamped messages (`#9749 `_) * feat(velocity_smoother): use autoware internal Stamped messages * fix --------- @@ -69,18 +79,18 @@ Changelog for package autoware_velocity_smoother 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 `_) * change max acceleration and max jerk according to external velocity request * modify external velocity limit selector * fix external velocity limit selector @@ -89,68 +99,68 @@ Changelog for package autoware_velocity_smoother * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* perf(motion_velocity_smoother): remove some heavy debug logging (`#8798 `_) +* perf(motion_velocity_smoother): remove some heavy debug logging (`#8798 `_) remove some heavy logging in the velocity smoother -* fix(autoware_velocity_smoother): fix unusedFunction (`#8649 `_) +* fix(autoware_velocity_smoother): fix unusedFunction (`#8649 `_) fix:unusedFunction -* fix(autoware_velocity_smoother): fix variableScope (`#8442 `_) +* fix(autoware_velocity_smoother): fix variableScope (`#8442 `_) fix:variableScope -* fix(autoware_velocity_smoother): fix unreadVariable (`#8364 `_) +* fix(autoware_velocity_smoother): fix unreadVariable (`#8364 `_) fix:unreadVariable -* fix(autoware_velocity_smoother): fix passedByValue (`#8207 `_) +* fix(autoware_velocity_smoother): fix passedByValue (`#8207 `_) * fix:passedByValue * fix:clang format --------- -* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) * not resample debug_trajectories if not published * update dependant packages --------- -* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) +* 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 --------- -* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) +* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) fix(velocity_smoother): float type of processing time was wrong -* fix(autoware_velocity_smoother): fix constVariableReference (`#8060 `_) +* fix(autoware_velocity_smoother): fix constVariableReference (`#8060 `_) fix:constVariableReference -* fix(autoware_velocity_smoother): fix constParameterReference (`#8043 `_) +* fix(autoware_velocity_smoother): fix constParameterReference (`#8043 `_) fix:constParameterReference -* chore(velocity_smoother): add maintainer (`#8121 `_) +* chore(velocity_smoother): add maintainer (`#8121 `_) add maintainer -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -159,21 +169,21 @@ Changelog for package autoware_velocity_smoother Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* fix(autoware_velocity_smoother): fix shadowVariablefix:shadowVariable (`#7950 `_) +* fix(autoware_velocity_smoother): fix shadowVariablefix:shadowVariable (`#7950 `_) fix:shadowVariable -* feat(velocity_smoother): add time_keeper (`#8026 `_) -* refactor(velocity_smoother): change method to take data for external velocity (`#7810 `_) +* feat(velocity_smoother): add time_keeper (`#8026 `_) +* refactor(velocity_smoother): change method to take data for external velocity (`#7810 `_) refactor external velocity -* fix(autoware_velocity_smoother): fix duplicateBreak warning (`#7699 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_velocity_smoother): fix unusedVariable warning (`#7585 `_) +* fix(autoware_velocity_smoother): fix duplicateBreak warning (`#7699 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_velocity_smoother): fix unusedVariable warning (`#7585 `_) fix unusedVariable warning -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* 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 @@ -185,7 +195,7 @@ Changelog for package autoware_velocity_smoother * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -220,17 +230,17 @@ Changelog for package autoware_velocity_smoother * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(autoware_velocity_smoother): use polling subscriber (`#7216 `_) +* feat(autoware_velocity_smoother): use polling subscriber (`#7216 `_) feat(motion_velocity_smoother): use polling subscriber -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp index d8dccc7778c34..7380f6a09b61b 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp @@ -42,11 +42,11 @@ #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp" #include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" #include "autoware_internal_debug_msgs/msg/float64_stamped.hpp" +#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp" // temporary #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" -#include "tier4_planning_msgs/msg/velocity_limit.hpp" // temporary #include "visualization_msgs/msg/marker_array.hpp" #include @@ -64,12 +64,12 @@ using TrajectoryPoints = std::vector; using autoware_adapi_v1_msgs::msg::OperationModeState; using autoware_internal_debug_msgs::msg::Float32Stamped; using autoware_internal_debug_msgs::msg::Float64Stamped; +using autoware_internal_planning_msgs::msg::VelocityLimit; // temporary using autoware_utils::DiagnosticsInterface; using geometry_msgs::msg::AccelWithCovarianceStamped; using geometry_msgs::msg::Pose; using geometry_msgs::msg::PoseStamped; using nav_msgs::msg::Odometry; -using tier4_planning_msgs::msg::VelocityLimit; // temporary using visualization_msgs::msg::MarkerArray; struct Motion diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml index d332c000d24a2..8d5ab0e91204e 100644 --- a/planning/autoware_velocity_smoother/package.xml +++ b/planning/autoware_velocity_smoother/package.xml @@ -2,7 +2,7 @@ autoware_velocity_smoother - 0.42.0 + 0.43.0 The autoware_velocity_smoother package Fumiya Watanabe @@ -22,6 +22,7 @@ eigen3_cmake_module autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_interpolation autoware_motion_utils autoware_osqp_interface @@ -35,7 +36,6 @@ rclcpp tf2 tf2_ros - tier4_planning_msgs ament_cmake_ros ament_lint_auto diff --git a/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp index 1c031e97417a6..66d09c518f394 100644 --- a/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp @@ -193,8 +193,8 @@ bool L2PseudoJerkSmoother::apply( // [b0, b1, ..., bN, | a0, a1, ..., aN, | // delta0, delta1, ..., deltaN, | sigma0, sigma1, ..., sigmaN] - const std::vector optval = std::get<0>(result); - const int status_val = std::get<3>(result); + const std::vector optval = result.primal_solution; + const int status_val = result.solution_status; if (status_val != 1) { RCLCPP_WARN(logger_, "optimization failed : %s", qp_solver_.getStatusMessage().c_str()); return false; diff --git a/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp index a148f92d72b89..6b21a59455955 100644 --- a/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp @@ -208,8 +208,8 @@ bool LinfPseudoJerkSmoother::apply( // [b0, b1, ..., bN, | a0, a1, ..., aN, | // delta0, delta1, ..., deltaN, | sigma0, sigma1, ..., sigmaN] - const std::vector optval = std::get<0>(result); - const int status_val = std::get<3>(result); + const std::vector optval = result.primal_solution; + const int status_val = result.solution_status; if (status_val != 1) { RCLCPP_WARN(logger_, "optimization failed : %s", qp_solver_.getStatusMessage().c_str()); return false; diff --git a/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp b/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp index d8a424095fcc8..eb2cfc3a8bce0 100644 --- a/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp +++ b/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp @@ -15,7 +15,7 @@ #include "autoware/velocity_smoother/node.hpp" #include -#include +#include #include #include @@ -64,7 +64,7 @@ void publishMandatoryTopics( test_target_node, "/localization/kinematic_state", autoware::test_utils::makeOdometry()); test_manager->publishInput( test_target_node, "velocity_smoother/input/external_velocity_limit_mps", - tier4_planning_msgs::msg::VelocityLimit{}); + autoware_internal_planning_msgs::msg::VelocityLimit{}); test_manager->publishInput( test_target_node, "velocity_smoother/input/operation_mode_state", autoware_adapi_v1_msgs::msg::OperationModeState{}); diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst index 6c1e870c926db..32d544ab731f6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst @@ -2,11 +2,17 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -46,7 +52,7 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -55,13 +61,13 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* refactor(behavior_path_planner): common test functions (`#9963 `_) +* refactor(behavior_path_planner): common test functions (`#9963 `_) * feat: common test code in behavior_path_planner * deal with other modules * fix typo * update --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota @@ -70,21 +76,21 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(bpp): rework steering factor interface (`#9325 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -95,8 +101,8 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -106,9 +112,9 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -119,28 +125,28 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) +* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) * add maintainers to avoidance by lane change * add maintainers to external request lane change --------- -* fix(autoware_behavior_path_avoidance_by_lane_change_module): fix unmatchedSuppression (`#8987 `_) +* fix(autoware_behavior_path_avoidance_by_lane_change_module): fix unmatchedSuppression (`#8987 `_) fix:unmatchedSuppression -* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) +* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) * add transient data * reverted max lc dist in calcCurrentMinMax * rename * minor refactoring * update doxygen comments --------- -* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) +* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) * check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum * move functions to relevant module * suppress unused function cppcheck * minor change --------- -* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) +* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) remove unused variables -* feat(lane_change): improve execution condition of lane change module (`#8648 `_) +* feat(lane_change): improve execution condition of lane change module (`#8648 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -153,8 +159,8 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module * update readme * check distance to reg element for candidate path only if not near terminal start --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) * refactor(lane_change): compute lanes and polygon only when updated * Revert accidental changesd This reverts commit cbfd9ae8a88b2d6c3b27b35c9a08bb824ecd5011. @@ -163,24 +169,24 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module * add target lanes getter * some minor function refactoring --------- -* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) +* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) * fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle * chore(schema): update schema --------- -* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) +* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) fix(static_obstacle_avoidance): fix stop position -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml index c08dbf399dc93..f9ff4d334818e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_avoidance_by_lane_change_module - 0.42.0 + 0.43.0 The behavior_path_avoidance_by_lane_change_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst index 28f955194b8c1..98234340e46c9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +53,7 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,13 +62,13 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* refactor(behavior_path_planner): common test functions (`#9963 `_) +* refactor(behavior_path_planner): common test functions (`#9963 `_) * feat: common test code in behavior_path_planner * deal with other modules * fix typo * update --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota @@ -71,21 +77,21 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(bpp): rework steering factor interface (`#9325 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -96,8 +102,8 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -107,9 +113,9 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -120,11 +126,11 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module 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 `_) -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area (`#8295 `_) +* feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area (`#8295 `_) * add expansion drivable area feature * make expansion optional * style(pre-commit): autofix @@ -132,23 +138,23 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix unusedFunction (`#8652 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix unusedFunction (`#8652 `_) fix:unusedFunction -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* perf(dynamic_obstacle_avoidance): decrease the computation time with time_keeper (`#7986 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* perf(dynamic_obstacle_avoidance): decrease the computation time with time_keeper (`#7986 `_) * decrease computation cost * remove TODO * fix --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix bitwiseOnBoolean warning (`#7636 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix bitwiseOnBoolean warning (`#7636 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md index 94784fe6771c0..377cc4883c34e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md @@ -4,12 +4,12 @@ This module is under development. ## Purpose / Role -This module provides avoidance functions for vehicles, pedestrians, and obstacles in the vicinity of the ego's path in combination with the [autoware_path_optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/). +This module provides avoidance functions for vehicles, pedestrians, and obstacles in the vicinity of the ego's path in combination with the [autoware_path_optimizer](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_path_optimizer/). Each module performs the following roles. Dynamic Avoidance module cuts off the drivable area according to the position and velocity of the target to be avoided. Obstacle Avoidance module modifies the path to be followed so that it fits within the received drivable area. -Static obstacle's avoidance functions are also provided by the [Static Avoidance module](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_behavior_path_static_obstacle_avoidance_module/), but these modules have different roles. +Static obstacle's avoidance functions are also provided by the [Static Avoidance module](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_behavior_path_static_obstacle_avoidance_module/), but these modules have different roles. The Static Obstacle Avoidance module performs avoidance through the outside of own lanes but cannot avoid the moving objects. On the other hand, this module can avoid moving objects. For this reason, the word "dynamic" is used in the module's name. diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml index b6dd131b22dd1..c7e4e1a1e164f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_dynamic_obstacle_avoidance_module - 0.42.0 + 0.43.0 The autoware_behavior_path_dynamic_obstacle_avoidance_module package Takayuki Murooka diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst index 3955799f9ff94..59598234bdf42 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +53,7 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,13 +62,13 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* refactor(behavior_path_planner): common test functions (`#9963 `_) +* refactor(behavior_path_planner): common test functions (`#9963 `_) * feat: common test code in behavior_path_planner * deal with other modules * fix typo * update --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota @@ -71,21 +77,21 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(bpp): rework steering factor interface (`#9325 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -96,8 +102,8 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -107,9 +113,9 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -120,19 +126,19 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) +* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) * add maintainers to avoidance by lane change * add maintainers to external request lane change --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml index c9dfc3fae0151..27b05fc96728a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_external_request_lane_change_module - 0.42.0 + 0.43.0 The autoware_behavior_path_external_request_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst index 73bd7386916c3..0fe08238caab0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst @@ -2,35 +2,47 @@ Changelog for package autoware_behavior_path_goal_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(goal_planner): ignore use bus_stop_area flag if there are no BusStopArea on the pull over lanes (`#10274 `_) +* docs(goal_planner): update README (`#10263 `_) +* fix(goal_planner): invert lane boundary of neighbor opposite lanelets when generating departure check lane (`#10207 `_) + * fix(goal_planner): invert lane boundary of neighbor opposite lanelets when generating departure check lane + * remove unnecessary loop + --------- +* Contributors: Hayato Mizushima, Mamoru Sobue, Mert Çolak, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* refactor(goal_planner, QC): remove unused function (`#10195 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* refactor(goal_planner, QC): remove unused function (`#10195 `_) refactor(goal_planner): remove unused function -* refactor(goal_planner): refactor planPullOverAsCandidate (`#10114 `_) -* feat(goal_planner): align vehicle center to be parallel to lane boundary (`#10118 `_) -* fix(autoware_behavior_path_goal_planner_module): check optional before accessing (`#10182 `_) +* refactor(goal_planner): refactor planPullOverAsCandidate (`#10114 `_) +* feat(goal_planner): align vehicle center to be parallel to lane boundary (`#10118 `_) +* fix(autoware_behavior_path_goal_planner_module): check optional before accessing (`#10182 `_) Update shift_pull_over.cpp -* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) -* feat(goal_planner): resample path interval for lane departure check accuracy (`#10058 `_) -* feat(goal_planner): ensure stop while path candidates are empty (`#10101 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* refactor(goal_planner): fix updateData continuation condition (`#10079 `_) +* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) +* feat(goal_planner): resample path interval for lane departure check accuracy (`#10058 `_) +* feat(goal_planner): ensure stop while path candidates are empty (`#10101 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* refactor(goal_planner): fix updateData continuation condition (`#10079 `_) refactor(goal_planner): fix updateData contiuation condition -* feat(goal_planner): replace LastApprovalData with the time changed to DECIDED (`#10066 `_) -* feat(goal_planner): do not use isActivated() in deciding state transition (`#10056 `_) -* refactor(goal_planner): remove enable_safety_check because it is default (`#10052 `_) -* refactor(goal_planner): remove use_object_recognition because it is default (`#10050 `_) -* fix(goal_planner): fix goal_searcher assert (`#10055 `_) -* refactor(goal_planner): refactor goal_searcher and goal_candidates (`#10049 `_) -* fix(goal_planner): check usage of bus_stop_area by goal_pose (`#10041 `_) -* refactor(goal_planner): make parameters const (`#10043 `_) +* feat(goal_planner): replace LastApprovalData with the time changed to DECIDED (`#10066 `_) +* feat(goal_planner): do not use isActivated() in deciding state transition (`#10056 `_) +* refactor(goal_planner): remove enable_safety_check because it is default (`#10052 `_) +* refactor(goal_planner): remove use_object_recognition because it is default (`#10050 `_) +* fix(goal_planner): fix goal_searcher assert (`#10055 `_) +* refactor(goal_planner): refactor goal_searcher and goal_candidates (`#10049 `_) +* fix(goal_planner): check usage of bus_stop_area by goal_pose (`#10041 `_) +* refactor(goal_planner): make parameters const (`#10043 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Ryohsuke Mitsudome, Yukinari Hisaki, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -39,23 +51,23 @@ Changelog for package autoware_behavior_path_goal_planner_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(goal_planner): introduce bezier based pullover for bus stop area (`#10027 `_) -* fix(goal_planner): fix waiting approval path of backward parking (`#10015 `_) -* refactor(goal_planner): divide extract_dynamic_object/is_goal_in_lanes util function (`#10019 `_) -* fix(start_planner, goal_planner): refactor lane departure checker initialization (`#9944 `_) -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(goal_planner): introduce bezier based pullover for bus stop area (`#10027 `_) +* fix(goal_planner): fix waiting approval path of backward parking (`#10015 `_) +* refactor(goal_planner): divide extract_dynamic_object/is_goal_in_lanes util function (`#10019 `_) +* fix(start_planner, goal_planner): refactor lane departure checker initialization (`#9944 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* fix(goal_planner): fix geometric pull over (`#9932 `_) -* test(autoware_behavior_path_start_planner_module): add test helper and implement unit tests for FreespacePullOut (`#9832 `_) +* fix(goal_planner): fix geometric pull over (`#9932 `_) +* test(autoware_behavior_path_start_planner_module): add test helper and implement unit tests for FreespacePullOut (`#9832 `_) * refactor(autoware_behavior_path_start_planner_module): remove unnecessary time_keeper parameter from pull-out planners * refactor(autoware_behavior_path_start_planner_module): remove TimeKeeper parameter from pull-out planners * refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling * refactor(planner): add planner_data parameter to plan methods in pull out planners * refactor(autoware_behavior_path_start_planner_module): remove LaneDepartureChecker dependency from pull-out planners --------- -* feat(goal_planner): update lateral_deviation_thresh from `0.3` to `0.1` (`#9850 `_) +* feat(goal_planner): update lateral_deviation_thresh from `0.3` to `0.1` (`#9850 `_) * fix(goal_planner): Update lateral_deviation_thresh from 0.3 to 0.1 * unified hasDeviatedFrom{Last|Current}PreviousModulePath * style(pre-commit): autofix @@ -63,25 +75,25 @@ Changelog for package autoware_behavior_path_goal_planner_module * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(goal_planner): cut stop path to goal (`#9829 `_) -* refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling (`#9791 `_) +* feat(goal_planner): cut stop path to goal (`#9829 `_) +* refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling (`#9791 `_) * refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling --------- -* fix(goal_planner): fix usage of last_previous_module_output (`#9811 `_) -* fix(behavior_path_planner): add freespace_planning_algorithms dependency (`#9800 `_) -* chore(autoware_test_utils): update test map (`#9664 `_) -* refactor(goal_planner): divide sort function (`#9650 `_) -* perf(goal_planner): remove unnecessary call to setMap on freespace planning (`#9644 `_) -* feat(goal_planner): add bezier based pull over planner (`#9642 `_) -* feat(goal_planner): divide Planners to isolated threads (`#9514 `_) +* fix(goal_planner): fix usage of last_previous_module_output (`#9811 `_) +* fix(behavior_path_planner): add freespace_planning_algorithms dependency (`#9800 `_) +* chore(autoware_test_utils): update test map (`#9664 `_) +* refactor(goal_planner): divide sort function (`#9650 `_) +* perf(goal_planner): remove unnecessary call to setMap on freespace planning (`#9644 `_) +* feat(goal_planner): add bezier based pull over planner (`#9642 `_) +* feat(goal_planner): divide Planners to isolated threads (`#9514 `_) * Contributors: Fumiya Watanabe, Kazunori-Nakajima, Kosuke Takeuchi, Kyoichi Sugahara, Mamoru Sobue, Takayuki Murooka 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) * feat(behavior_path_planner): add detail text to virutal wall * goal is far * pull over start pose is far @@ -89,29 +101,29 @@ Changelog for package autoware_behavior_path_goal_planner_module * fix build * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp --------- -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(goal_planner): fix isStopped judgement (`#9585 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(goal_planner): fix isStopped judgement (`#9585 `_) * fix(goal_planner): fix isStopped judgement * fix typo --------- -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* feat(goal_planner): check opposite lane for lane departure_check (`#9460 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(goal_planner): check opposite lane for lane departure_check (`#9460 `_) * feat(goal_planner): check opposite lane for lane departure_check * refactor getMostInnerLane --------- -* refactor(goal_planner): improve log message and change level (`#9562 `_) +* refactor(goal_planner): improve log message and change level (`#9562 `_) Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> -* fix(cpplint): include what you use - planning (`#9570 `_) -* refactor(goal_planner): move PathDecisionController implementation to a different file (`#9523 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(goal_planner): move PathDecisionController implementation to a different file (`#9523 `_) refactor(goal_planner): move decision_state implementation -* refactor(goal_planner): move unnecessary member functions (`#9522 `_) -* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) +* refactor(goal_planner): move unnecessary member functions (`#9522 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. * style(pre-commit): autofix * Updated the freespace planner instantiation call in the path planning modules @@ -121,20 +133,20 @@ Changelog for package autoware_behavior_path_goal_planner_module --------- Co-authored-by: Steven Brills Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(goal_planner): fix multiple lane ids of shift pull over (`#9360 `_) +* fix(goal_planner): fix multiple lane ids of shift pull over (`#9360 `_) fix vel -* fix(goal_planner): remove stop reason (`#9365 `_) +* fix(goal_planner): remove stop reason (`#9365 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(goal_planner): use departure_check_lane for path (`#9423 `_) -* refactor(goal_planner): rename shoulder_lane to pull_over_lane (`#9422 `_) -* feat(goal_planner): do not insert shift end pose on pull over lane to path (`#9361 `_) -* feat(goal_planner): remove unnecessary member from ThreadSafeData (`#9393 `_) -* feat(goal_planner): move goal_candidates from ThreadSafeData to GoalPlannerData (`#9292 `_) -* feat(goal_planner): output velocity factor (`#9348 `_) -* refactor(bpp): rework steering factor interface (`#9325 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(goal_planner): use departure_check_lane for path (`#9423 `_) +* refactor(goal_planner): rename shoulder_lane to pull_over_lane (`#9422 `_) +* feat(goal_planner): do not insert shift end pose on pull over lane to path (`#9361 `_) +* feat(goal_planner): remove unnecessary member from ThreadSafeData (`#9393 `_) +* feat(goal_planner): move goal_candidates from ThreadSafeData to GoalPlannerData (`#9292 `_) +* feat(goal_planner): output velocity factor (`#9348 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -145,90 +157,90 @@ Changelog for package autoware_behavior_path_goal_planner_module * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) -* feat(goal_planner): safety check with only parking path (`#9293 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) -* fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) +* feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) +* fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, stevenbrills 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) -* feat(goal_planner): safety check with only parking path (`#9293 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) -* fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) +* feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) +* fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(goal_planner): align vehicle footprint heading parallel to parking side lane boundary (`#9159 `_) -* chore(goal_planner): compare sampled/filtered candidate paths on plot (`#9140 `_) +* feat(goal_planner): align vehicle footprint heading parallel to parking side lane boundary (`#9159 `_) +* chore(goal_planner): compare sampled/filtered candidate paths on plot (`#9140 `_) Co-authored-by: Kosuke Takeuchi -* feat(goal_planner): use vehicle side edge to check isCrossingPossible for pull over execution (`#9102 `_) -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* refactor(goal_planner): move last_previous_module_output_path out of ThreadSafeData (`#9075 `_) -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* feat(goal_planner): use vehicle side edge to check isCrossingPossible for pull over execution (`#9102 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* refactor(goal_planner): move last_previous_module_output_path out of ThreadSafeData (`#9075 `_) +* 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(goal_planner): remove prev_data / last_path_idx_time from ThreadSafeData (`#9064 `_) +* refactor(goal_planner): remove prev_data / last_path_idx_time from ThreadSafeData (`#9064 `_) refactor(goal_planner): remove prev_data and last_path_idx_update_time -* refactor(goal_planner): remove lane parking pull over path (`#9063 `_) -* refactor(goal_planner): remove modified_goal in ThreadDafeData (`#9010 `_) -* refactor(goal planner): hold modified_goal in PullOverPath ,copy modified goal once from background thread (`#9006 `_) +* refactor(goal_planner): remove lane parking pull over path (`#9063 `_) +* refactor(goal_planner): remove modified_goal in ThreadDafeData (`#9010 `_) +* refactor(goal planner): hold modified_goal in PullOverPath ,copy modified goal once from background thread (`#9006 `_) refactor(goal_planner): save modified_goal_pose in PullOverPlannerBase -* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) fix filter object by velocity -* fix(goal_planner): fix parking_path curvature and DecidingState transition (`#9022 `_) -* refactor(goal_planner): use the PullOverPath, PullOverPathCandidates copied from ThreadData to reduce access (`#8994 `_) -* refactor(goal_planner): remove unused header and divide ThreadSafeData to another file (`#8990 `_) -* refactor(goal_planner): refactor PullOverPlannseBase to instantiate only valid path (`#8983 `_) -* fix(goal_planner): fix freespace planning chattering (`#8981 `_) -* feat(goal_planner): use neighboring lane of pull over lane to check goal footprint (`#8716 `_) +* fix(goal_planner): fix parking_path curvature and DecidingState transition (`#9022 `_) +* refactor(goal_planner): use the PullOverPath, PullOverPathCandidates copied from ThreadData to reduce access (`#8994 `_) +* refactor(goal_planner): remove unused header and divide ThreadSafeData to another file (`#8990 `_) +* refactor(goal_planner): refactor PullOverPlannseBase to instantiate only valid path (`#8983 `_) +* fix(goal_planner): fix freespace planning chattering (`#8981 `_) +* feat(goal_planner): use neighboring lane of pull over lane to check goal footprint (`#8716 `_) move to utils and add tests -* refactor(goal_planner): remove unnecessary GoalPlannerData member (`#8920 `_) -* feat(goal_planner): move PathDecidingStatus to other controller class (`#8872 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* refactor(goal_planner): remove unnecessary GoalPlannerData member (`#8920 `_) +* feat(goal_planner): move PathDecidingStatus to other controller class (`#8872 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(goal_planner): fix typo (`#8910 `_) -* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8786 `_) +* fix(goal_planner): fix typo (`#8910 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8786 `_) fix:unusedFunction -* refactor(goal_planner): reduce call to isSafePath (`#8812 `_) -* feat(goal_planner): execute goal planner if previous module path terminal is pull over neighboring lane (`#8715 `_) -* feat(goal_planner): dense goal candidate sampling in BusStopArea (`#8795 `_) -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* refactor(goal_planner): reduce call to isSafePath (`#8812 `_) +* feat(goal_planner): execute goal planner if previous module path terminal is pull over neighboring lane (`#8715 `_) +* feat(goal_planner): dense goal candidate sampling in BusStopArea (`#8795 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* feat(goal_planner): add getBusStopAreaPolygons (`#8794 `_) -* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8775 `_) +* feat(goal_planner): add getBusStopAreaPolygons (`#8794 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8775 `_) fix:unusedFunction -* feat(behavior_path_goal planner): add example plot for development (`#8772 `_) -* fix(goal_planner): fix time_keeper race (`#8780 `_) -* fix(goal_planner): fix object extraction area (`#8764 `_) -* fix(goal_planner): fix typo (`#8763 `_) -* feat(goal_planner): extend pull over lanes inward to extract objects (`#8714 `_) +* feat(behavior_path_goal planner): add example plot for development (`#8772 `_) +* fix(goal_planner): fix time_keeper race (`#8780 `_) +* fix(goal_planner): fix object extraction area (`#8764 `_) +* fix(goal_planner): fix typo (`#8763 `_) +* feat(goal_planner): extend pull over lanes inward to extract objects (`#8714 `_) * feat(goal_planner): extend pull over lanes inward to extract objects * update from review * use optionale @@ -239,17 +251,17 @@ Changelog for package autoware_behavior_path_goal_planner_module * pre-commit --------- Co-authored-by: Mamoru Sobue -* refactor(goal_planner): initialize parameter with free function (`#8712 `_) -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* refactor(goal_planner): remove unnecessary member from PreviousPullOverData (`#8698 `_) -* refactor(goal_planner): remove unnecessary member from pull_over_planner (`#8697 `_) -* refactor(goal_planner): move pull_over_planner directory (`#8696 `_) -* fix(goal_planner): fix zero velocity in middle of path (`#8563 `_) +* refactor(goal_planner): initialize parameter with free function (`#8712 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(goal_planner): remove unnecessary member from PreviousPullOverData (`#8698 `_) +* refactor(goal_planner): remove unnecessary member from pull_over_planner (`#8697 `_) +* refactor(goal_planner): move pull_over_planner directory (`#8696 `_) +* fix(goal_planner): fix zero velocity in middle of path (`#8563 `_) * fix(goal_planner): fix zero velocity in middle of path * add comment --------- -* fix(goal_planner): remove time keeper in non main thread (`#8610 `_) -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* fix(goal_planner): remove time keeper in non main thread (`#8610 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -315,37 +327,37 @@ Changelog for package autoware_behavior_path_goal_planner_module * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* perf(goal_planner): faster path sorting and selection (`#8457 `_) +* perf(goal_planner): faster path sorting and selection (`#8457 `_) * perf(goal_planner): faster path sorting and selection * path_id_to_rough_margin_map --------- -* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) +* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) * goal_planner * lane_change --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* perf(goal_planner): reduce unnecessary recursive lock guard (`#8465 `_) +* perf(goal_planner): reduce unnecessary recursive lock guard (`#8465 `_) * perf(goal_planner): reduce unnecessary recursive lock guard * make set_no_lock private --------- -* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) * add optional to tackle LC turn signal and pull over turn signal * CPP file should not re-define default value; typo in copying from internal repos --------- -* fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (`#8449 `_) -* fix(autoware_behavior_path_goal_planner_module): fix unreadVariable (`#8365 `_) +* fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (`#8449 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unreadVariable (`#8365 `_) fix:unreadVariable -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* perf(goal_planner): reduce processing time (`#8195 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* perf(goal_planner): reduce processing time (`#8195 `_) * perf(goal_palnner): reduce processing time * add const& return * use copy getter * pre commit --------- -* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) -* feat(goal_planner): add time keeper (`#8194 `_) +* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) +* feat(goal_planner): add time keeper (`#8194 `_) time keeper -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -378,9 +390,9 @@ Changelog for package autoware_behavior_path_goal_planner_module * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* fix(autoware_behavior_path_goal_planner_module): fix shadowVariable (`#7962 `_) +* fix(autoware_behavior_path_goal_planner_module): fix shadowVariable (`#7962 `_) fix:shadowVariable -* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) +* 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 @@ -388,24 +400,24 @@ Changelog for package autoware_behavior_path_goal_planner_module Co-authored-by: Kyoichi Sugahara --------- Co-authored-by: Kyoichi Sugahara -* docs(goal_planner): update parameter description (`#7889 `_) +* docs(goal_planner): update parameter description (`#7889 `_) * docs(goal_planner): update parameter description * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(goal_planner): prioritize pull over path by curvature (`#7791 `_) +* feat(goal_planner): prioritize pull over path by curvature (`#7791 `_) * feat(goal_planner): prioritize pull over path by curvature fix * add comment * pre commit --------- Co-authored-by: Mamoru Sobue -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -413,13 +425,13 @@ Changelog for package autoware_behavior_path_goal_planner_module * fix LC README * use normalized yaw diff --------- -* fix(autoware_behavior_path_goal_planner_module): fix lateral_offset related warnings (`#7624 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_behavior_path_goal_planner_module): fix lateral_offset related warnings (`#7624 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -436,14 +448,14 @@ Changelog for package autoware_behavior_path_goal_planner_module fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md index 11a2a92024f4f..b342a82b1acb2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md @@ -2,15 +2,13 @@ ## Purpose / Role -Plan path around the goal. - -- Arrive at the designated goal. -- Modify the goal to avoid obstacles or to pull over at the side of the lane. +goal_planner generates a smooth path toward the goal and additionally searches for safe path and goal to execute dynamic pull_over on the road shoulders lanes following the traffic rules. ## Design -If goal modification is not allowed, park at the designated fixed goal. (`fixed_goal_planner` in the figure below) -When allowed, park in accordance with the specified policy(e.g pull over on left/right side of the lane). (`rough_goal_planner` in the figure below). Currently rough goal planner only support pull_over feature, but it would be desirable to be able to accommodate various parking policies in the future. +If goal modification is not allowed, just park at the designated fixed goal using `fixed_goal_planner`. + +If allowed, `rough_goal_planner` works to park around the vacant spots in the shoulder lanes around the goal by executing pull_over toward left or right side of the road lanes. ```plantuml @startuml @@ -35,8 +33,6 @@ package goal_planner{ struct PullOverPath{} abstract class PullOverPlannerBase {} - abstract class GoalsearcherBase {} - } package fixed_goal_planner <>{ @@ -62,7 +58,6 @@ package freespace_planning_algorithms ShiftPullOver --|> PullOverPlannerBase GeometricPullOver --|> PullOverPlannerBase FreeSpacePullOver --|> PullOverPlannerBase -GoalSearcher --|> GoalSearcherBase DefaultFixedPlanner --|> FixedGoalPlannerBase PathShifter --o ShiftPullOver @@ -71,29 +66,26 @@ AstarSearch --o FreeSpacePullOver RRTStar --o FreeSpacePullOver PullOverPlannerBase --o GoalPlannerModule -GoalSearcherBase --o GoalPlannerModule FixedGoalPlannerBase --o GoalPlannerModule PullOverPath --o PullOverPlannerBase -GoalCandidates --o GoalSearcherBase @enduml ``` -## start condition +## trigger condition ### fixed_goal_planner -This is a very simple function that plans a smooth path to a specified goal. This function does not require approval and always runs with the other modules. +`fixed_goal_planner` just plans a smooth path to the designated goal. _NOTE: this planner does not perform the several features described below, such as "goal search", "collision check", "safety check", etc._ -Executed when both conditions are met. +`fixed_goal_planner` is used when both conditions are met. - Route is set with `allow_goal_modification=false`. This is the default. -- The goal is set in the normal lane. In other words, it is NOT `road_shoulder`. -- Ego-vehicle exists in the same lane sequence as the goal. +- The goal is set on `road` lanes. -If the target path contains a goal, modify the points of the path so that the path and the goal are connected smoothly. This process will change the shape of the path by the distance of `refine_goal_search_radius_range` from the goal. Note that this logic depends on the interpolation algorithm that will be executed in a later module (at the moment it uses spline interpolation), so it needs to be updated in the future. +If the path given to goal_planner covers the goal, `fixed_goal_planner` smoothly connects the goal and the path points around the goal within the radius of `refine_goal_search_radius_range` using spline interpolation. ![path_goal_refinement](./images/path_goal_refinement.drawio.svg) @@ -103,25 +95,21 @@ If the target path contains a goal, modify the points of the path so that the pa #### pull over on road lane -- The distance between the goal and ego-vehicle is shorter than `pull_over_minimum_request_length`. -- Route is set with `allow_goal_modification=true` . +`rough_goal_planner` is triggered following the [behavior_path_planner scene module interface](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design/) namely through `isExecutionRequested` function and it returns true when following two conditions are met. + +- The distance between the goal and ego get shorter than $\max$(`pull_over_minimum_request_length`, stop distance with decel and jerk constraints). +- Route is set with `allow_goal_modification=true` or is on a `road_shoulder` type lane. - We can set this option with [SetRoute](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/routing/srv/SetRoute.srv#L2) api service. - We support `2D Rough Goal Pose` with the key bind `r` in RViz, but in the future there will be a panel of tools to manipulate various Route API from RViz. -- The terminal point of the current path is in the same lane sequence as the goal. If goal is on the road shoulder, then it is in the adjacent road lane sequence. -#### pull over on shoulder lane - -- The distance between the goal and ego-vehicle is shorter than `pull_over_minimum_request_length`. -- Goal is set in the `road_shoulder`. - ## finish condition -- The distance to the goal from your vehicle is lower than threshold (default: < `1m`). -- The ego-vehicle is stopped. +- The distance to the goal from ego is lower than threshold (default: < `1m`). +- Ego is stopped. - The speed is lower than threshold (default: < `0.01m/s`). ## General parameters for goal_planner @@ -135,33 +123,43 @@ If the target path contains a goal, modify the points of the path so that the pa ## **Goal Search** -To realize pull over even when an obstacle exists near the original goal, a collision free area is searched within a certain range around the original goal. The goal found will be published as `/planning/scenario_planning/modified_goal`. +To execute safe pull over in the presence of parked vehicles and other obstacles, collision free areas are searched within a certain range around the original goal. The selected best goal pose will be published as `/planning/scenario_planning/modified_goal`. [goal search video](https://user-images.githubusercontent.com/39142679/188359594-c6724e3e-1cb7-4051-9a18-8d2c67d4dee9.mp4) -1. The original goal is set, and the refined goal pose is obtained by moving in the direction normal to the lane center line and keeping `margin_from_boundary` from the edge of the lane. - ![refined_goal](./images/goal_planner-refined_goal.drawio.svg) +First, the original(designated) goal is provided, and a refined goal pose is obtained so that it is at least `margin_from_boundary` offset from the edge of the lane. -2. Using `refined_goal` as the base goal, search for candidate goals in the range of `-forward_goal_search_length` to `backward_goal_search_length` in the longitudinal direction and `longitudinal_margin` to `longitudinal_margin+max_lateral_offset` in th lateral direction based on refined_goal. - ![goal_candidates](./images/goal_planner-goal_candidates.drawio.svg) +![refined_goal](./images/goal_planner-refined_goal.drawio.svg) -3. Each candidate goal is prioritized and a path is generated for each planner for each goal. The priority of a candidate goal is determined by its distance from the base goal. The ego vehicle tries to park for the highest possible goal. The distance is determined by the selected policy. In case `minimum_longitudinal_distance`, sort with smaller longitudinal distances taking precedence over smaller lateral distances. In case `minimum_weighted_distance`, sort with the sum of weighted lateral distance and longitudinal distance. This means the distance is calculated by `longitudinal_distance + lateral_cost*lateral_distance` - ![goal_distance](./images/goal_planner-goal_distance.drawio.svg) - The following figure is an example of minimum_weighted_distance.​ The white number indicates the goal candidate priority, and the smaller the number, the higher the priority. the 0 goal indicates the base goal. - ![goal_priority_rviz_with_goal](./images/goal_priority_with_goal.png) - ![goal_priority_rviz](./images/goal_priority_rviz.png) +Second, goal candidates are searched in the interval of [`-forward_goal_search_length`, `backward_goal_search_length`] in the longitudinal direction and in the interval of [`longitudinal_margin`,`longitudinal_margin+max_lateral_offset`] in the lateral direction centered around the refined goal. -4. If the footprint in each goal candidate is within `object_recognition_collision_check_margin` of that of the object, it is determined to be unsafe. These goals are not selected. If `use_occupancy_grid_for_goal_search` is enabled, collision detection on the grid is also performed with `occupancy_grid_collision_check_margin`. +![goal_candidates](./images/goal_planner-goal_candidates.drawio.svg) -Red goals candidates in the image indicate unsafe ones. +Each goal candidate is prioritized and pull over paths are generated by each planner for each goal candidate. The priority of a goal candidate is determined by a sort policy using several distance metrics from the refined goal. -![is_safe](./images/goal_planner-is_safe.drawio.svg) +The `minimum_longitudinal_distance` policy sorts the goal candidates to assign higher priority to goal with smaller longitudinal distance and then auxiliary to goal with smaller lateral distance, to prioritize goal candidates that are close to the original goal. + +The `minimum_weighted_distance` policy sorts the goal candidates by the weighted sum of lateral distance and longitudinal distance `longitudinal_distance + lateral_cost*lateral_distance`. + +![goal_distance](./images/goal_planner-goal_distance.drawio.svg) -It is possible to keep `longitudinal_margin` in the longitudinal direction apart from the collision margin for obstacles from the goal candidate. This is intended to provide natural spacing for parking and efficient departure. +The following figure is an example of minimum_weighted_distance.​ The white number indicates the goal candidate priority, and the smaller the number, the higher the priority. the 0 goal indicates the original refined goal. + +![goal_priority_rviz_with_goal](./images/goal_priority_with_goal.png) + +To achieve a goal pose which is easy to start the maneuvering after arrival, the goal candidate pose is aligned so that ego center becomes parallel to the shoulder lane boundary at that pose. + +![goal_pose_align](./images/goal_planner-goal-pose-correct.drawio.svg) + +If the footprint in each goal candidate is within `object_recognition_collision_check_margin` from one of the parked object, or the longitudinal distance to one of the parked objects from that goal candidate is less than `longitudinal_margin`, it is determined to be unsafe. These goals are not selected. If `use_occupancy_grid_for_goal_search` is enabled, collision detection on the grid is also performed with `occupancy_grid_collision_check_margin`. + +Red goal candidates in the below figure indicate unsafe ones. ![longitudinal_margin](./images/goal_planner-longitudinal_margin.drawio.svg) -Also, if `prioritize_goals_before_objects` is enabled, To arrive at each goal, the number of objects that need to be avoided in the target range is counted, and those with the lowest number are given priority. +![is_safe](./images/goal_planner-is_safe.drawio.svg) + +Also, if `prioritize_goals_before_objects` is enabled, the number of objects that need to be avoided before reaching the goal is counted, and the goal candidate with the number are prioritized. The images represent a count of objects to be avoided at each range, with priority given to those with the lowest number, regardless of the aforementioned distances. @@ -171,6 +169,10 @@ The gray numbers represent objects to avoid, and you can see that the goal in fr ![goal_priority_object_to_avoid_rviz.png](./images/goal_priority_object_to_avoid_rviz.png) +### BusStopArea + +If the flag `use_bus_stop_area` is true, the goal search is limited inside the `BusStopArea` regulatory element polygon. The goal candidates are searched more densely compared to road shoulder parking method, and the goal candidate that keeps the ego footprint inside the `BusStopArea` is accepted. Refer to [BusStopArea spec](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/extra_regulatory_elements.md#bus-stop-area) for more detail. + ### Parameters for goal search | Name | Unit | Type | Description | Default value | @@ -189,21 +191,39 @@ The gray numbers represent objects to avoid, and you can see that the goal in fr ## **Pull Over** -There are three path generation methods. -The path is generated with a certain margin (default: `0.75 m`) from the boundary of shoulder lane. +Since the path candidates generation is time consuming, goal_planner employs two separate threads to generate path candidates in the background and get latest candidates asynchronously. One is `LaneParkingThread` which plans path candidates on road shoulder lanes and the other is `FreespaceParkingThread` which plans on freespace area. The normal process of goal_planner is executed on the main thread. + +Although the two threads are running periodically, the primary background process is performed only when following conditions are met in order not to consume computational resource. + +- ego has approached the goal within the threshold of `pull_over_prepare_length` +- upstream module path shape has changed from the one which was sent by the main thread in previous process +- upstream module path shape has changed from the one which was used for path candidates generation in the previous process + +`LaneParkingThread` executes either -The process is time consuming because multiple planners are used to generate path for each candidate goal. Therefore, in this module, the path generation is performed in a thread different from the main thread. -Path generation is performed at the timing when the shape of the output path of the previous module changes. If a new module launches, it is expected to go to the previous stage before the goal planner, in which case the goal planner re-generates the path. The goal planner is expected to run at the end of multiple modules, which is achieved by `keep_last` in the planner manager. +- _shift_ based path planning +- _arc forward_, _arc backward_ path planning +- _bezier_ based path planning -Threads in the goal planner are shown below. +depending on the situation and configuration. If `use_bus_stop_area` is true and the goal is on a BusStopArea regulatory element and the estimated pull over angle(the difference of pose between the shift start and shift end) is larger than `bezier_parking.pull_over_angle_threshold`, [_bezier_ based path planner](https://autowarefoundation.github.io/autoware_universe/main/planning/sampling_based_planner/autoware_bezier_sampler/) works to generate path candidates. Otherwise [_shift_ based path planner](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design/) works. _bezier_ based path planner tends to generate more natural paths on a curved lane than _shift_ based path planner, so it is used if the shift requires a certain amount of pose rotation. + +The overall flow is as follows. ![threads.png](./images/goal_planner-threads.drawio.svg) -The main thread will be the one called from the planner manager flow. +The main thread and the each thread communicate by sending _request_ and _response_ respectively. The main thread sends latest main thread data as `LaneParkingRequest/FreespaceParkingRequest` and each thread sets `LaneParkingResponse/FreespaceParkingResponse` as the output when it's finished. The bluish blocks on the flow diagram are the _critical section_. + +While + +- there are no path candidates, or +- the threads fail to generate candidates, or +- the main thread cannot nail down that the selected candidate is SAFE against dynamic objects(which means the DecisionState is not still `DECIDED`) + +the main thread inserts a stop pose either at `closest_start_pose` which is the closest shift start pose among the path candidates, or at the position which is certain distance before the closest goal candidate. -- The goal candidate generation and path candidate generation are done in a separate thread(lane path generation thread). -- The path candidates generated there are referred to by the main thread, and the one judged to be valid for the current planner data (e.g. ego and object information) is selected from among them. valid means no sudden deceleration, no collision with obstacles, etc. The selected path will be the output of this module. -- If there is no path selected, or if the selected path is collision and ego is stuck, a separate thread(freespace path generation thread) will generate a path using freespace planning algorithm. If a valid free space path is found, it will be the output of the module. If the object moves and the pull over path generated along the lane is collision-free, the path is used as output again. See also the section on freespace parking for more information on the flow of generating freespace paths. +Once the main thread finally selected the best pull over path, goal_planner transits to `DECIDED` state and it sets `SAFE` as the RTC status(NOTE: this `SAFE` means that "a safe pull over path has been finally selected".) + +If there are no path candidates or the selected path is not SAFE and thus `the LaneParkingThread` causes ego to get stuck, the `FreespaceParkingThread` is triggered by the stuck detection and it starts generating path candidates using [freespace parking algorithms](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_freespace_planning_algorithms/). If a valid freespace path is found and ego is still stuck, the freespace path is used instead. If the selected lane parking pull over path becomes collision-free again in case the blocking parked objects moved, and the path is continuous from current freespace path, lane parking pull over path is selected again. | Name | Unit | Type | Description | Default value | | :------------------------------------ | :----- | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :--------------------------------------- | @@ -218,12 +238,11 @@ The main thread will be the one called from the planner manager flow. ### **shift parking** -Pull over distance is calculated by the speed, lateral deviation, and the lateral jerk. -The lateral jerk is searched for among the predetermined minimum and maximum values, and the one satisfies ready conditions described above is output. +Pull over distance is calculated by the speed, lateral deviation, and the lateral jerk. The lateral jerk is searched for among the predetermined minimum and maximum values. 1. Apply uniform offset to centerline of shoulder lane for ensuring margin -2. In the section between merge start and end, path is shifted by a method that is used to generate avoidance path (four segmental constant jerk polynomials) -3. Combine this path with center line of road lane +2. The interval of shift start and end is shifted by the [_shift_ based path planner](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design/) +3. Combine this path with center line of road lane and the remaining shoulder lane centerline ![shift_parking](./images/shift_parking.drawio.svg) @@ -242,7 +261,8 @@ The lateral jerk is searched for among the predetermined minimum and maximum val ### **geometric parallel parking** -Generate two arc paths with discontinuous curvature. It stops twice in the middle of the path to control the steer on the spot. There are two path generation methods: forward and backward. +This method generate two arc paths with discontinuous curvature. It stops twice in the middle of the path to do [dry steering](https://en.wikipedia.org/wiki/Dry_steering). There are two path generation methods: forward and backward. + See also [[1]](https://www.sciencedirect.com/science/article/pii/S1474667015347431) for details of the algorithm. There is also [a simple python implementation](https://github.com/kosuke55/geometric-parallel-parking). #### Parameters geometric parallel parking @@ -288,7 +308,8 @@ Generate two backward arc paths. ### freespace parking -If the vehicle gets stuck with `lane_parking`, run `freespace_parking`. +If the vehicle gets stuck with `LaneParkingPlanning`, `FreespaceParkingPlanner` is triggered. + To run this feature, you need to set `parking_lot` to the map, `activate_by_scenario` of [costmap_generator](../costmap_generator/README.md) to `false` and `enable_freespace_parking` to `true` ![pull_over_freespace_parking_flowchart](./images/pull_over_freespace_parking_flowchart.drawio.svg) @@ -305,9 +326,19 @@ Simultaneous execution with `avoidance_module` in the flowchart is under develop See [freespace_planner](../autoware_freespace_planner/README.md) for other parameters. +### bezier parking + +_shift_ based path planner tends to generate unnatural path when the shift lane is curved as illustrated below. + + + +_bezier_ based path planner interpolates the shift path start and end pose using tbe bezier curve for a several combination of parameters, to obtain a better result through the later selection process. In the below screenshot the goal is on a BusStopArea and `use_bus_stop_area` is set to true, so _bezier_ planner is triggered instead. Internally, goal*planner first tries to use \_shift* planner, and if it turns out that the shift start and end is not parallel, it switches to _bezier_ planner from the next process. + + + ## **collision check for path generation** -To select a safe one from the path candidates, a collision check with obstacles is performed. +To select a safe one from the path candidates, collision is checked against parked objects for each path. ### **occupancy grid based collision check** @@ -326,8 +357,7 @@ Generate footprints from ego-vehicle path points and determine obstacle collisio ### **object recognition based collision check** -A collision decision is made for each of the path candidates, and a collision-free path is selected. -There are three main margins at this point. +collision is checked for each of the path candidates. There are three margins for this purpose. - `object_recognition_collision_check_margin` is margin in all directions of ego. - In the forward direction, a margin is added by the braking distance calculated from the current speed and maximum deceleration. The maximum distance is The maximum value of the distance is suppressed by the `object_recognition_collision_check_max_extra_stopping_margin` @@ -411,9 +441,10 @@ In addition, the safety check has a time hysteresis, and if the path is judged " ## **path deciding** -When `decide_path_distance` closer to the start of the pull over, if it is collision-free at that time and safe for the predicted path of the objects, it transitions to DECIDING. If it is safe for a certain period of time, it moves to DECIDED. +When ego approached the start of the temporarily selected pull over path within the distance of `decide_path_distance`, if it is collision-free at that time and safe against dynamic objects, it transitions to `DECIDING`. And if those conditions hold for a certain period of time, it transitions to `DECIDED` and the selected path is fixed. -![path_deciding](./images/goal_planner-deciding_path.drawio.svg) +![state_transition](./images/goal_planner-state-transition.drawio.svg) +[Open]({{ drawio("/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-state-transition.drawio.svg") }}) ## Unimplemented parts / limitations diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/bad_shift_path.png b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/bad_shift_path.png new file mode 100644 index 0000000000000..d4a449c209593 Binary files /dev/null and b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/bad_shift_path.png differ diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/bezier_path.png 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max_decel) @@ -91,13 +77,7 @@ - + extra_lateral_margin(v, κ) + + + + Text is not SVG - cannot display + + diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-goal-pose-correct.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-goal-pose-correct.drawio.svg new file mode 100644 index 0000000000000..43eed245e07b2 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-goal-pose-correct.drawio.svg @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_candidates.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_candidates.drawio.svg index 67b2f89a99bb0..1d3c279b79ea5 100644 --- 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+
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+
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+
+
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+
+
+ + GoalPlanner::isExecutionRequested() == true ? + + + + + + + + + +
+
+
+ + Yes + +
+
+
+ + Yes + + + + + +
+
+
+ + No + +
+
+
+ + No + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ ModuleStatus +
+
+
+ + ModuleStatus + + + + + + +
+
+
+ DecisionState +
+
+
+ + DecisionState + + + + + + +
+
+
+ RTC +
+
+
+ + RTC + + + + + + +
+
+
+ PathPlanning +
+
+
+ + PathPlanning + + + + + + +
+
+
+ Blinker +
+
+
+ + Blinker + + + + + + +
+
+
+ RUNNING +
+
+
+ + RUNNING + + + + + + +
+
+
+ NOT_ +
+ DECIDED +
+
+
+ + NOT_... + + + + + + +
+
+
+ N/A +
+
+
+ + N/A + + + + + + +
+
+
+ plan() +
+
+
+ + plan() + + + + + + +
+
+
+ N/A +
+
+
+ + N/A + + + + + +
+
+
+
    +
  • + insert stop pose before the provided goal position +
    • +
  • + start path candididates generation in the background +
    • +
+
+
+
+ + insert stop pose before the provided goal positionstart path cand... + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ ModuleStatus +
+
+
+ + ModuleStatus + + + + + + +
+
+
+ DecisionState +
+
+
+ + DecisionState + + + + + + +
+
+
+ RTC +
+
+
+ + RTC + + + + + + +
+
+
+ PathPlanning +
+
+
+ + PathPlanning + + + + + + +
+
+
+ Blinker +
+ and Deceleration +
+
+
+ + Blinker... + + + + + + +
+
+
+ RUNNING +
+
+
+ + RUNNING + + + + + + +
+
+
+ NOT_ +
+ DECIDED +
+
+
+ + NOT_... + + + + + + +
+
+
+ N/A +
+
+
+ + N/A + + + + + + +
+
+
+ plan() +
+
+
+ + plan() + + + + + + +
+
+
<TODO>
+
+
+ + <TODO> + + + + + +
+
+
+
    +
  • + start deceleration +
    • +
  • + choose the temporary best path from the candidates +
    • +
      +
    • + pick up most safe and feasible one +
      • +
    • + visualize the temporary decided path for operator guidance +
      • +
    +
+
+
+
+ + start decelerationchoose the temporary best path from the candida... + + + + + + + + +
+
+
+ + decide_distance + +
+
+
+ + dec... + + + + + + +
+
+
+ + + Is Ego is within + decide_distance + from the stop pose? + + +
+
+
+ + Is Ego is within decide_distance from the stop pose? + + + + + + + + + +
+
+
+ + No + +
+
+
+ + No + + + + + + + + + + + + + + +
+
+
+ + decide_distance + +
+
+
+ + dec... + + + + + + +
+
+
+ + Yes + +
+
+
+ + Yes + + + + + + + +
+
+
+ goal (allow modification) +
+
+
+ + goal (allow modification) + + + + + +
+
+
+ parked vehicle +
+
+
+ + parked vehicle + + + + + +
+
+
+

+ + Check if each goal and path + +

+

+

    +
  • + + keeps clearance margin from parked object and lane boundary ? + +
    • +
  • + + is not dangerous on occupanc grid map ? + +
    • +
  • + + does not have sharp curvature ? + +
    • +
+
+
+
+ + Check if each goal and path... + + + + + + + + + + + + + + + +
+
+
+ pull over path candidates +
+
+
+ + pull over path candidates + + + + + + + + + + + +
+
+
+ + + Is temporary path safe against +
+ + + + dynamic object & new/moved parked
object for a duration?
 + +
+
+
+ + Is temporary path safe against... + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ by dynamic object collision +
+
+
+ + by dynamic object collisi... + + + + + + + +
+
+
+ by new/moved +
+ parked object +
+
+
+ + by new/moved... + + + + + + + + + + + + + +
+
+
+ + No + +
+
+
+ + No + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ ModuleStatus +
+
+
+ + ModuleStatus + + + + + + +
+
+
+ DecisionState +
+
+
+ + DecisionState + + + + + + +
+
+
+ RTC +
+
+
+ + RTC + + + + + + +
+
+
+ PathPlanning +
+
+
+ + PathPlanning + + + + + + +
+
+
+ Blinker +
+ and Decleration +
+
+
+ + Blinker... + + + + + + +
+
+
+ WAIT_ +
+ APPROVAL +
+
+
+ + WAIT_... + + + + + + +
+
+
+ DECIDED +
+
+
+ + DECIDED + + + + + + +
+
+
+ WAITING_ +
+ APPROVAL +
+
+
+ + WAITING_... + + + + + + +
+
+
+ planWaiting +
+ Approval() +
+
+
+ + planWaiting... + + + + + + +
+
+
<TODO>
+
+
+ + <TODO> + + + + + +
+
+
+
    +
  • + insert stop line at the pull over start position +
    • +
+
+
+
+ + insert stop line at the pull over start position + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ ModuleStatus +
+
+
+ + ModuleStatus + + + + + + +
+
+
+ DecisionState +
+
+
+ + DecisionState + + + + + + +
+
+
+ RTC +
+
+
+ + RTC + + + + + + +
+
+
+ PathPlanning +
+
+
+ + PathPlanning + + + + + + +
+
+
+ Blinker +
+
+
+ + Blinker + + + + + + +
+
+
+ RUNNING +
+
+
+ + RUNNING + + + + + + +
+
+
+ DECIDED +
+
+
+ + DECIDED + + + + + + +
+
+
+
+ APPROVED +
+
+
+
+ + APPROVED + + + + + + +
+
+
+ plan() +
+
+
+ + plan() + + + + + + +
+
+
+ Start +
+
+
+ + Start + + + + + +
+
+
+
    +
  • + keep using the DECIDED pull over path +
    • +
  • + stop against dynamic objects if necessary +
    • +
+
+
+
+ + keep using the DECIDED pull over pathstop against dynamic objects... + + + + + + +
+
+
+ + Yes + +
+
+
+ + Yes + + + + + + +
+
+
+ + Is goal_planner APPROVED ? + +
+
+
+ + Is goal_planner APPROVED ? + + + + + + + + + +
+
+
+ + Yes + +
+
+
+ + Yes + + + + + +
+
+
+ + No + +
+
+
+ + No + + + + + + + + + + + + + + + + + + + +
+
+
+ ModuleStatus +
+
+
+ + ModuleStatus + + + + + + +
+
+
+ DecisionState +
+
+
+ + DecisionState + + + + + + +
+
+
+ RTC +
+
+
+ + RTC + + + + + + +
+
+
+ PathPlanning +
+
+
+ + PathPlanning + + + + + + +
+
+
+ Blinker +
+ and Deceleration +
+
+
+ + Blinker... + + + + + + +
+
+
+ RUNNING +
+
+
+ + RUNNING + + + + + + +
+
+
+ DECIDING +
+
+
+ + DECIDING + + + + + + +
+
+
+ N/A +
+
+
+ + N/A + + + + + + +
+
+
+ plan() +
+
+
+ + plan() + + + + + + +
+
+
<TODO>
+
+
+ + <TODO> + + + + + + + + + + + + + + + + + + + +
+
+
+ + enough time passed ? + +
+
+
+ + enough time passed ? + + + + + + + +
+
+
+ + No + +
+
+
+ + No + + + + + +
+
+
+ + Yes + +
+
+
+ + Yes + + + + + + + + Text is not SVG - cannot display + + + diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-threads.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-threads.drawio.svg index 8dde3fa757dcd..5b13cb9c436de 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-threads.drawio.svg +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-threads.drawio.svg @@ -1,668 +1,1224 @@ - + - - - - - - + + + + + + + +
-
- sort paths by priority +
+ main thread
- + main thread - - - + + -
+
+
+
+ GoalPlannerModule::updateData() +
+
+
+ + GoalPlannerModule::updateData() + + + + + + + + +
-
- select highest priority collision free path +
+ GoalPlannerModule::plan()
- + GoalPlannerModule::plan() - - - + +
+
+
+ GoalPlannerModule:: +
+ planWaitingApproval() +
+
+
+ + GoalPlannerModule::... + + + + + + + + + + + +
- main thread + lane path generation thread
- + lane path generation thread - + + + + +
+
+
+ onTimer +
+
+
+ + onTimer + + +
-
- collision-free path +
+ arrived goal ?
- + arrived goal ? - + + + -
+
-
- collision-free paths +
+ + upstream path just changed +
+ upstream path changed since +
+ last path generation +
- + upstream path just changed... - + + +
-
- - collision-free +
+ + receive +
+ LaneParkingRequest + +
+
+
+ + receive... + + + + + + + + + + +
+
+
+ use_bus_stop_area &&
goal is in bus_stop_area
&& pull_over_angle is large +
+
+
+ + use_bus_stop_area &&... + + + + + + + + + +
+
+
+ + generate shift
- path is found + path candidates
- + generate shift... + + + + + + + + + +
+
+
+ + generate closest +
+ start pose +
+ as feasible +
+ stop position +
+ +
+
+
+ + generate closest... + + + + + + + + +
+
+
+ send +
+ LaneParkingResponse +
+
+
+ + send... + + + + + + + + + + + +
+
+
No
+
+
+ + No - +
-
- get +
+ trigger_thread_on_approach == true ?
- + trigger_thread_on_app... - - - - - + + + -
+
-
Yes
+
+ freespace path generation thead +
- + freespace path generation thead - - - + + + + +
+
+
+ onTimer +
+
+
+ + onTimer + + +
-
-
- - generate goal candidates - +
+
+ current_state +
+ == IDLE ?
- + current_state... - - - + -
-
-
goal candidates
+
+
+
+ arrived goal ? +
- + arrived goal ? - - - + + + -
-
-
run()
+
+
+
+ is being stuck
for a duration &&
path is outdated? +
- + is being stuck... - -
+
-
get
+
No
- + No - - - + -
-
-
- lane path generation thread +
+
+
+ + generate freespace +
+ path +
- + generate freespace... - +
-
- - generate path candidates +
+ + send +
+ FreeSpaceParkingReponse +
- + send... - - + + + -
-
-
- Trigger: previous module output path  is changed. +
+
+
syncWithThreads()
+
+
+ + syncWithThreads() + + + + + + + +
+
+
+ + + LaneParkingRequest + +
+ +
    +
  • + previous module ouput +
    • +
  • + module status +
    • +
  • + PlannerData clone +
    • +
  • + etc. +
    • +
- + LaneParkingRequest... - + + + + + + + +
-
- onTimer() +
+ + + FreespaceParkingRequest + +
+ +
    +
  • + previous module ouput +
    • +
  • + module status +
    • +
  • + PlannerData clone +
    • +
  • + etc. +
    • +
- + FreespaceParkingRequest... - + + + + -
+
+
+
+ + + LaneParkingResponse + +
+ +
    +
  • + pull_over_path_candidates +
    • +
  • + closest_start_pose +
    • +
+
+
+
+ + LaneParkingResponse... + + + + + + + + + +
+
+
+ + + FreespaceParkingResponse + +
+ +
    +
  • + freespace_pullover_path +
    • +
+
+
+
+ + FreespaceParkingResponse... + + + + + + + + + +
+
+
Yes
+
+
+ + Yes + + + + + +
+
+
No
+
+
+ + No + + + + + + + +
+
+
+
    +
  1. prepare
    2. +
      +
    • + + + lane_parking_request + + +
      • +
    • + + + freespace_parking_request + + +
      • +
    +
  2. take
    3. +
      +
    • + + + lane_parking_reponse + + +
      • +
    • + + + freespace_parking_reponse + + +
      • +
    +
+
+
+
+ + prepare... + + + + + +
+
+
Yes
+
+
+ + Yes + + + + + + + + +
+
+
+ + generate bezier +
+ path candidates + +
+
+
+ + generate bezier... + + + + + +
+
+
Yes
+
+
+ + Yes + + + + + +
-
previous module path
+
No
 - + No - + + + + + + + + + + + + + + -
+
-
- pull over path candidates +
+ No + + %3CmxGraphModel%3E%3Croot%3E%3CmxCell%20id%3D%220%22%2F%3E%3CmxCell%20id%3D%221%22%20parent%3D%220%22%2F%3E%3CmxCell%20id%3D%222%22%20value%3D%22Yes%22%20style%3D%22text%3Bhtml%3D1%3Balign%3Dcenter%3BverticalAlign%3Dmiddle%3Bresizable%3D0%3Bpoints%3D%5B%5D%3Bautosize%3D1%3BstrokeColor%3Dnone%3BfillColor%3Dnone%3BfontFamily%3DHelvetica%3B%22%20vertex%3D%221%22%20parent%3D%221%22%3E%3CmxGeometry%20x%3D%22-514%22%20y%3D%22255%22%20width%3D%2240%22%20height%3D%2230%22%20as%3D%22geometry%22%2F%3E%3C%2FmxCell%3E%3C%2Froot%3E%3C%2FmxGraphModel%3E +
- + No%3Cm... - - - -
+
-
get
+
Yes
- + Yes - - - - - + +
-
- freespace path generation thead -
+
Yes
 - + Yes - + + +
-
- - generate freespace paths +
+ + receive +
+ FreeSpaceParkingRequest +
- + receive... - - + + + + + + + + -
-
-
- Trigger: ego vehicle is stuck -
+
+
+
Yes
- + Yes -
-
-
- onFreespaceParkingTimer() -
+
+
No
- + No - -
+
-
freespace path
+
No
- + No - - - + + + + + +
-
- if collision-fee path is found... +
No
+
+
+ + No + + + + + + + +
+
+
No
+
+
+ + No + + + + + + + + + + +
+
+
+ valid path ?
- + valid path ? - + + -
+
-
get
+
No
- + No - - - + + + + -
+
-
No
+
No
+
+
+ + No + + + + + + + + + + + + +
+
+
+ is distance to goal +
+ less than threshold ? +
+
+
+ + is distance to goal... + + + + + + + + + + + + + +
+
+
+ + set +
+ trigger_thread_on_approach +
+ = true +
+ +
+
+
+ + set... + + + + + +
+
+
Yes
+
+
+ + Yes + + + + + + + + + +
+
+
+ + update DecsionState +
+ +
+
+
+ + update DecsionState + + + + + + + + +
+
+
+ + update GoalCandidates +
+ safety +
+ +
+
+
+ + update GoalCandidates... + + + + + + + + +
+
+
+ + update PullOverPath +
+ partial path index +
+ +
- + update PullOverPath... - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Text is not SVG - cannot display + + diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/pull_over_freespace_parking_flowchart.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/pull_over_freespace_parking_flowchart.drawio.svg index 659fc2d979b84..2f384f52c904c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/pull_over_freespace_parking_flowchart.drawio.svg +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/pull_over_freespace_parking_flowchart.drawio.svg @@ -8,8 +8,7 @@ width="588px" height="451px" viewBox="-0.5 -0.5 588 451" - content="<mxfile host="app.diagrams.net" modified="2023-02-24T11:37:23.504Z" agent="5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/109.0.0.0 Safari/537.36" 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> diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index cd8c5d7c9f34b..c3328c06f1111 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -195,7 +195,7 @@ class LaneParkingPlanner bool switch_bezier_{false}; void normal_pullover_planning_helper( const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, - const BehaviorModuleOutput & upstream_module_output, + const BehaviorModuleOutput & upstream_module_output, const bool use_bus_stop_area, const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, std::vector & path_candidates); void bezier_planning_helper( diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp index f427aafe4b460..3c63c983b279b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp @@ -60,6 +60,8 @@ class GoalSearcher MultiPolygon2d getAreaPolygons() const { return area_polygons_; } + bool bus_stop_area_available() const { return !bus_stop_area_polygons_.empty(); } + private: GoalSearcher( const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint, diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml index 1766a59d45a32..c1ceb5ac57877 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_goal_planner_module - 0.42.0 + 0.43.0 The autoware_behavior_path_goal_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 0e8e804f6236b..bca1105f4b4cc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -384,7 +384,7 @@ void LaneParkingPlanner::onTimer() closest_start_pose, path_candidates, sorted_indices_opt); } else { normal_pullover_planning_helper( - local_planner_data, goal_candidates, upstream_module_output, current_lanes, + local_planner_data, goal_candidates, upstream_module_output, use_bus_stop_area, current_lanes, closest_start_pose, path_candidates); } @@ -405,7 +405,7 @@ void LaneParkingPlanner::onTimer() void LaneParkingPlanner::normal_pullover_planning_helper( const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, - const BehaviorModuleOutput & upstream_module_output, + const BehaviorModuleOutput & upstream_module_output, const bool use_bus_stop_area, const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, std::vector & path_candidates) { @@ -464,7 +464,7 @@ void LaneParkingPlanner::normal_pullover_planning_helper( if (closest_start_pose) { const auto original_pose = planner_data->route_handler->getOriginalGoalPose(); if ( - parameters_.bus_stop_area.use_bus_stop_area && + use_bus_stop_area && std::fabs(autoware_utils::normalize_radian( autoware_utils::get_rpy(original_pose).z - autoware_utils::get_rpy(closest_start_pose.value()).z)) > pull_over_angle_threshold) { @@ -473,7 +473,7 @@ void LaneParkingPlanner::normal_pullover_planning_helper( path_candidates.clear(); RCLCPP_INFO(getLogger(), "will generate Bezier Paths next"); } - } else if (parameters_.bus_stop_area.use_bus_stop_area && path_candidates.size() == 0) { + } else if (use_bus_stop_area && path_candidates.size() == 0) { switch_bezier_ = true; RCLCPP_INFO( getLogger(), "Could not find any shift pull over paths, will generate Bezier Paths next"); @@ -649,8 +649,10 @@ std::pair GoalPlannerModule::sync { std::lock_guard guard(lane_parking_mutex_); if (!lane_parking_request_) { + const auto & goal_searcher = goal_searcher_.value(); lane_parking_request_.emplace( - vehicle_footprint_, goal_candidates_, getPreviousModuleOutput(), use_bus_stop_area_); + vehicle_footprint_, goal_candidates_, getPreviousModuleOutput(), + use_bus_stop_area_ && goal_searcher.bus_stop_area_available()); } // NOTE: for the above reasons, PlannerManager/behavior_path_planner_node ensure that // planner_data_ is not nullptr, so it is OK to copy as value @@ -714,7 +716,7 @@ void GoalPlannerModule::updateData() parameters_.forward_goal_search_length); const auto bus_stop_area_polygons = goal_planner_utils::getBusStopAreaPolygons(pull_over_lanes); use_bus_stop_area_ = - parameters_.bus_stop_area.use_bus_stop_area && + parameters_.bus_stop_area.use_bus_stop_area && goal_searcher.bus_stop_area_available() && std::any_of( bus_stop_area_polygons.begin(), bus_stop_area_polygons.end(), [&](const auto & area) { const auto & goal_position = planner_data_->route_handler->getOriginalGoalPose().position; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index 72db734a9b998..f75db2113528e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -227,9 +227,8 @@ GoalCandidates GoalSearcher::search( vehicle_footprint_, autoware_utils::pose2transform(search_pose)); if ( - parameters_.bus_stop_area.use_bus_stop_area && - !goal_planner_utils::isWithinAreas( - transformed_vehicle_footprint, bus_stop_area_polygons_)) { + use_bus_stop_area && !goal_planner_utils::isWithinAreas( + transformed_vehicle_footprint, bus_stop_area_polygons_)) { continue; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index 52c775be3f3fa..8b2ed3bdf9e71 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -709,33 +709,38 @@ lanelet::Lanelet createDepartureCheckLanelet( const lanelet::ConstLanelets & pull_over_lanes, const route_handler::RouteHandler & route_handler, const bool left_side_parking) { - const auto getBoundPoints = - [&](const lanelet::ConstLanelet & lane, const bool is_outer) -> lanelet::Points3d { + const auto getBoundPoints = [&]( + const lanelet::ConstLanelet & lane, const bool is_outer, + const bool invert) -> lanelet::Points3d { lanelet::Points3d points; const auto & bound = left_side_parking ? (is_outer ? lane.leftBound() : lane.rightBound()) : (is_outer ? lane.rightBound() : lane.leftBound()); - for (const auto & pt : bound) { + const auto ego_oriented_bound = invert ? bound.invert() : bound; + for (const auto & pt : ego_oriented_bound) { points.push_back(lanelet::Point3d(pt)); } return points; }; - const auto getMostInnerLane = [&](const lanelet::ConstLanelet & lane) -> lanelet::ConstLanelet { + const auto getMostInnerLane = + [&](const lanelet::ConstLanelet & lane) -> std::pair { const auto getInnerLane = left_side_parking ? &RouteHandler::getMostRightLanelet : &RouteHandler::getMostLeftLanelet; const auto getOppositeLane = left_side_parking ? &RouteHandler::getRightOppositeLanelets : &RouteHandler::getLeftOppositeLanelets; const auto inner_lane = (route_handler.*getInnerLane)(lane, true, true); const auto opposite_lanes = (route_handler.*getOppositeLane)(inner_lane); - return opposite_lanes.empty() ? inner_lane : opposite_lanes.front(); + return std::make_pair( + opposite_lanes.empty() ? inner_lane : opposite_lanes.front(), !opposite_lanes.empty()); }; lanelet::Points3d outer_bound_points{}; lanelet::Points3d inner_bound_points{}; for (const auto & lane : pull_over_lanes) { - const auto current_outer_bound_points = getBoundPoints(lane, true); - const auto most_inner_lane = getMostInnerLane(lane); - const auto current_inner_bound_points = getBoundPoints(most_inner_lane, false); + const auto current_outer_bound_points = getBoundPoints(lane, true, false); + const auto most_inner_lane_info = getMostInnerLane(lane); + const auto current_inner_bound_points = + getBoundPoints(most_inner_lane_info.first, false, most_inner_lane_info.second); outer_bound_points = combineLanePoints(outer_bound_points, current_outer_bound_points); inner_bound_points = combineLanePoints(inner_bound_points, current_inner_bound_points); } diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst index 5bb2f02308ce3..3f3211aea7aa7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst @@ -2,17 +2,29 @@ Changelog for package autoware_behavior_path_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(lane_change_module): fix planning factor issue (`#10244 `_) + * when computing target lanes, don't include preceding lanes of lane change lane + * dont insert stop point on target lane if next lc dist buffer is zero + * return previous module output if LC module status is IDLE + * disable faulty test + --------- +* Contributors: Hayato Mizushima, Yutaka Kondo, mkquda + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore(lane_change, QC): remove unused function (`#10188 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore(lane_change, QC): remove unused function (`#10188 `_) chore(lane_change): remove unused function -* fix(lane_change): remove string literals from stopwatch toc (`#10121 `_) -* feat(lane_change): improve the calculation of the target lateral velocity in Frenet frame (`#10078 `_) -* fix(lane_change): fix end pose not connected to goal (RT1-9247) (`#10103 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* fix(lane_change): remove string literals from stopwatch toc (`#10121 `_) +* feat(lane_change): improve the calculation of the target lateral velocity in Frenet frame (`#10078 `_) +* fix(lane_change): fix end pose not connected to goal (RT1-9247) (`#10103 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -52,7 +64,7 @@ Changelog for package autoware_behavior_path_lane_change_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -61,7 +73,7 @@ Changelog for package autoware_behavior_path_lane_change_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* docs(lane_change): update lane change documentation (`#9949 `_) +* docs(lane_change): update lane change documentation (`#9949 `_) * update lane change requirements documentation * remove unused function getNumToPreferredLane * update candidate path generation documentation @@ -95,7 +107,7 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* docs(lane_change): object filtering description (`#9947 `_) +* docs(lane_change): object filtering description (`#9947 `_) * docs(lane_change): object filtering description * Move section up * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -104,13 +116,13 @@ Changelog for package autoware_behavior_path_lane_change_module Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* refactor(behavior_path_planner): common test functions (`#9963 `_) +* refactor(behavior_path_planner): common test functions (`#9963 `_) * feat: common test code in behavior_path_planner * deal with other modules * fix typo * update --------- -* refactor(lane_change): add missing safety check parameter (`#9928 `_) +* refactor(lane_change): add missing safety check parameter (`#9928 `_) * refactor(lane_change): parameterize incoming object yaw threshold * Readme * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -123,11 +135,11 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(lane_change): ensure path generation doesn't exceed time limit (`#9908 `_) +* feat(lane_change): ensure path generation doesn't exceed time limit (`#9908 `_) * add time limit for lane change candidate path generation * apply time limit for frenet method as well * ensure param update value is valid @@ -135,12 +147,12 @@ Changelog for package autoware_behavior_path_lane_change_module * fix spelling * fix param update initial values --------- -* feat(lane_change_module): add update paramter function for non defined paramters (`#9887 `_) +* feat(lane_change_module): add update paramter function for non defined paramters (`#9887 `_) * feat(lane_change_module): add new parameters for collision check and delay lane change functionality * feat(lane_change_module): add validation for longitudinal and lateral acceleration sampling parameters * feat(lane_change): update parameter handling and add lateral acceleration mapping --------- -* feat(lane_change): using frenet planner to generate lane change path when ego near terminal (`#9767 `_) +* feat(lane_change): using frenet planner to generate lane change path when ego near terminal (`#9767 `_) * frenet planner * minor refactoring * adding parameter @@ -164,10 +176,10 @@ Changelog for package autoware_behavior_path_lane_change_module * add additional note * fix conflict --------- -* feat(lane_change): append candidate path index to metric debug table (`#9885 `_) +* feat(lane_change): append candidate path index to metric debug table (`#9885 `_) add candidate path index to metrics debug table -* docs(lane_change): fix broken link (`#9892 `_) -* docs(lane_change): explaining cancel and abort process (`#9845 `_) +* docs(lane_change): fix broken link (`#9892 `_) +* docs(lane_change): explaining cancel and abort process (`#9845 `_) * docs(lane_change): explaining cancel and abort process * slight fix in formatting * rephrase sentence @@ -190,7 +202,7 @@ Changelog for package autoware_behavior_path_lane_change_module * rename subheading --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* refactor(lane_change): refactor transit failure function (`#9835 `_) +* refactor(lane_change): refactor transit failure function (`#9835 `_) * refactor(lane_change): refactor transit failure function * fixed failed scenario * remove is abort from debug @@ -198,7 +210,7 @@ Changelog for package autoware_behavior_path_lane_change_module * add comments for clarity * include what you use. --------- -* feat(lane_change): implement terminal lane change feature (`#9592 `_) +* feat(lane_change): implement terminal lane change feature (`#9592 `_) * implement function to compute terminal lane change path * push terminal path to candidate paths if no other valid candidate path is found * use terminal path in LC interface planWaitingApproval function @@ -224,26 +236,26 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: tomoya.kimura Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* feat(lane_change): add text display for candidate path sampling metrics (`#9810 `_) +* feat(lane_change): add text display for candidate path sampling metrics (`#9810 `_) * display candidate path sampling metrics on rviz * rename struct --------- -* feat(lane_change): revise current lane objects filtering (`#9785 `_) +* feat(lane_change): revise current lane objects filtering (`#9785 `_) * consider stopped front objects * simplify computation of dist to front current lane object * add flag to enable/disable keeping distance from front stopped vehicle * fix object filtering test --------- -* refactor(lane_change): replace sstream to fmt for marker's text (`#9775 `_) -* feat(lane_change): add info text to virtual wall (`#9783 `_) +* refactor(lane_change): replace sstream to fmt for marker's text (`#9775 `_) +* feat(lane_change): add info text to virtual wall (`#9783 `_) * specify reason for lane change stop line * add stop reason for incoming rear object --------- -* fix(lane_change): add metrics to valid paths visualization (`#9737 `_) +* fix(lane_change): add metrics to valid paths visualization (`#9737 `_) * fix(lane_change): add metrics to valid paths visualization * fix cpp-check error --------- -* refactor(lane_change): separate path-related function to utils/path (`#9633 `_) +* refactor(lane_change): separate path-related function to utils/path (`#9633 `_) * refactor(lane_change): separate path-related function to utils/path * remove old terminal lane change computation * doxygen comments @@ -258,10 +270,10 @@ Changelog for package autoware_behavior_path_lane_change_module * fix for failing scenario caused by prepare velocity * fix error message --------- -* fix(lane_change): fix prepare length too short at low speed (RT1-8909) (`#9735 `_) +* fix(lane_change): fix prepare length too short at low speed (RT1-8909) (`#9735 `_) fix prepare length too short at low speed (RT1-8909) -* refactor(lane_change): separate structs to different folders (`#9625 `_) -* fix(lane_change): remove overlapping preceding lanes (`#9526 `_) +* refactor(lane_change): separate structs to different folders (`#9625 `_) +* fix(lane_change): remove overlapping preceding lanes (`#9526 `_) * fix(lane_change): remove overlapping preceding lanes * fix cpp check * start searching disconnected lanes directly @@ -274,9 +286,9 @@ Changelog for package autoware_behavior_path_lane_change_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) * feat(behavior_path_planner): add detail text to virutal wall * goal is far * pull over start pose is far @@ -284,8 +296,8 @@ Changelog for package autoware_behavior_path_lane_change_module * fix build * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp --------- -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(lane_change): check obj predicted path when filtering (`#9385 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(lane_change): check obj predicted path when filtering (`#9385 `_) * RT1-8537 check object's predicted path when filtering * use ranges view in get_line_string_paths * check only vehicle type predicted path @@ -296,34 +308,34 @@ Changelog for package autoware_behavior_path_lane_change_module * precommit and grammar fix --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* feat(lane_change): reduce prepare duration when blinker has been activated (`#9185 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(lane_change): reduce prepare duration when blinker has been activated (`#9185 `_) * add minimum prepare duration parameter * reduce prepare duration according to signal activation time - * chore: update CODEOWNERS (`#9203 `_) + * chore: update CODEOWNERS (`#9203 `_) Co-authored-by: github-actions - * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) * refactor(time_utils): prefix package and namespace with autoware * refactor(time_utils): 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> - * feat(rtc_interface): add requested field (`#9202 `_) + * feat(rtc_interface): add requested field (`#9202 `_) * add requested feature * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> - * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) - * fix(bpp): prevent accessing nullopt (`#9204 `_) + * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) + * fix(bpp): prevent accessing nullopt (`#9204 `_) fix(bpp): calcDistanceToRedTrafficLight null - * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) * refactor: grouping functions * refactor: grouping parameters * refactor: rename member road_users_history to road_users_history\_ @@ -338,7 +350,7 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: Mamoru Sobue Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) * Moved ndt_omp into ndt_scan_matcher * Added Copyright * style(pre-commit): autofix @@ -365,7 +377,7 @@ Changelog for package autoware_behavior_path_lane_change_module * Fixed to pass by reference --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) + * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) * modify implementation to compute and keep actual prepare duration in transient data * if LC path is approved, set prepare duration in transient data from approved path prepare duration * change default value of LC param min_prepare_duration @@ -405,7 +417,7 @@ Changelog for package autoware_behavior_path_lane_change_module Co-authored-by: SakodaShintaro Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: tomoya.kimura -* feat(lane_changing): improve computation of lane changing acceleration (`#9545 `_) +* feat(lane_changing): improve computation of lane changing acceleration (`#9545 `_) * allow decelerating in lane changing phase near terminal * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> @@ -414,16 +426,16 @@ Changelog for package autoware_behavior_path_lane_change_module * fix format --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(cpplint): include what you use - planning (`#9570 `_) -* refactor(test_utils): return parser as optional (`#9391 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(test_utils): return parser as optional (`#9391 `_) Co-authored-by: Mamoru Sobue -* fix(lane_change): cap ego's predicted path velocity (RT1-8505) (`#9341 `_) +* fix(lane_change): cap ego's predicted path velocity (RT1-8505) (`#9341 `_) * fix(lane_change): cap ego's predicted path velocity (RT1-8505) * properly cap based on 0.0 instead of min lc vel * fix build error --------- -* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-unused-variable (`#9401 `_) -* feat(lane_change): improve delay lane change logic (`#9480 `_) +* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-unused-variable (`#9401 `_) +* feat(lane_change): improve delay lane change logic (`#9480 `_) * implement function to check if lane change delay is required * refactor function isParkedObject * refactor delay lane change parameters @@ -457,9 +469,9 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: Zulfaqar Azmi Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-error (`#9402 `_) -* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-overloaded-virtual (`#9400 `_) -* feat(lane_change): parse predicted objects for lane change test (RT1-8251) (`#9256 `_) +* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-error (`#9402 `_) +* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-overloaded-virtual (`#9400 `_) +* feat(lane_change): parse predicted objects for lane change test (RT1-8251) (`#9256 `_) * RT1-8251 parse predicted objects * fix pre-commit and build error * add additional test and fix test failure @@ -469,7 +481,7 @@ Changelog for package autoware_behavior_path_lane_change_module Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* refactor(lane_change): refactor lane change parameters (`#9403 `_) +* refactor(lane_change): refactor lane change parameters (`#9403 `_) * refactor lane change parameters * update lane change param yaml * update lane change README @@ -487,8 +499,8 @@ Changelog for package autoware_behavior_path_lane_change_module * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(lane_change): separate target lane leading based on obj behavior (`#9372 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(lane_change): separate target lane leading based on obj behavior (`#9372 `_) * separate target lane leading objects based on behavior (RT1-8532) * fixed overlapped filtering and lanes debug marker * combine filteredObjects function @@ -504,14 +516,14 @@ Changelog for package autoware_behavior_path_lane_change_module * spell-check --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* feat(lane_change): output velocity factor (`#9349 `_) -* refactor(lane_change): refactor extended object safety check (`#9322 `_) +* feat(lane_change): output velocity factor (`#9349 `_) +* refactor(lane_change): refactor extended object safety check (`#9322 `_) * refactor LC extended object collision check code * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --------- Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* refactor(bpp): rework steering factor interface (`#9325 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -522,34 +534,34 @@ Changelog for package autoware_behavior_path_lane_change_module * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) -* fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) +* fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) * RT1-8427 extending lc path for multiple lc * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) +* fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) fix computation of maximum lane changing length threshold -* refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) - Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" +* refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. -* refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) -* fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) +* refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) +* fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) * RT0-33893 add checks from prev intersection * fix shadow variable * fix logic * update readme * refactor get_ego_footprint --------- -* test(bpp_common): add unit test for safety check (`#9223 `_) +* test(bpp_common): add unit test for safety check (`#9223 `_) * add test for object collision * add test for more functions * add docstring @@ -560,35 +572,35 @@ Changelog for package autoware_behavior_path_lane_change_module 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) -* fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) +* fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) * RT1-8427 extending lc path for multiple lc * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) +* fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) fix computation of maximum lane changing length threshold -* refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) - Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" +* refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. -* refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) -* fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) +* refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) +* fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) * RT0-33893 add checks from prev intersection * fix shadow variable * fix logic * update readme * refactor get_ego_footprint --------- -* test(bpp_common): add unit test for safety check (`#9223 `_) +* test(bpp_common): add unit test for safety check (`#9223 `_) * add test for object collision * add test for more functions * add docstring @@ -599,14 +611,14 @@ Changelog for package autoware_behavior_path_lane_change_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(lane_change): refactor longitudinal acceleration sampling (`#9091 `_) +* refactor(lane_change): refactor longitudinal acceleration sampling (`#9091 `_) * fix calc_all_max_lc_lengths function * remove unused functions * remove limit on velocity in calc_all_max_lc_lengths function @@ -615,11 +627,11 @@ Changelog for package autoware_behavior_path_lane_change_module * check for zero value prepare duration * refactor calc_lon_acceleration_samples function --------- -* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) * add path with lane id parser * refactor parse to use template --------- -* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) +* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) * RT1-7970 testing base class * additional test * Added update lanes @@ -627,19 +639,19 @@ Changelog for package autoware_behavior_path_lane_change_module * check is lane change required * fix PRs comment --------- -* refactor(lane_change): reducing clang-tidy warnings (`#9085 `_) +* refactor(lane_change): reducing clang-tidy warnings (`#9085 `_) * refactor(lane_change): reducing clang-tidy warnings * change function name to snake case --------- -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* 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 --------- -* fix(lane_change): insert stop for current lanes object (RT0-33761) (`#9070 `_) +* fix(lane_change): insert stop for current lanes object (RT0-33761) (`#9070 `_) * RT0-33761 fix lc insert stop for current lanes object * fix wrong value used for comparison * ignore current lane object that is not on ego's path @@ -654,11 +666,11 @@ Changelog for package autoware_behavior_path_lane_change_module * change color --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) +* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) * refactor(lane_change): refactor get_lane_change_lanes function * Add doxygen comment for to_geom_msg_pose --------- -* refactor(lane_change): replace any code that can use transient data (`#8999 `_) +* refactor(lane_change): replace any code that can use transient data (`#8999 `_) * RT1-8004 replace hasEnoughLength * RT1-8004 Removed isNearEndOfCurrentLanes * RT1-8004 refactor sample longitudinal acc values @@ -674,7 +686,7 @@ Changelog for package autoware_behavior_path_lane_change_module * RT1-8004 Rename isVehicleStuck to is_ego_stuck() * RT1-8004 change calcPrepareDuration to snake case --------- -* refactor(lane_change): refactor code using transient data (`#8997 `_) +* refactor(lane_change): refactor code using transient data (`#8997 `_) * add target lane length and ego arc length along current and target lanes to transient data * refactor code using transient data * refactor get_lane_change_paths function @@ -682,36 +694,36 @@ Changelog for package autoware_behavior_path_lane_change_module * refactor util functions * refactor getPrepareSegment function --------- -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* fix(lane_change): fix abort distance enough check (`#8979 `_) +* fix(lane_change): fix abort distance enough check (`#8979 `_) * RT1-7991 fix abort distance enough check * RT-7991 remove unused function --------- -* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) +* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) * add transient data * reverted max lc dist in calcCurrentMinMax * rename * minor refactoring * update doxygen comments --------- -* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) +* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) * check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum * move functions to relevant module * suppress unused function cppcheck * minor change --------- -* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8960 `_) +* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8960 `_) * fix:unusedFunction * fix:unusedFunction * fix:unusedFunction * fix:pre_commit --------- -* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) +* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -741,18 +753,18 @@ Changelog for package autoware_behavior_path_lane_change_module * add colors to flow chart in README --------- Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(lane_change): add checks to ensure the edge of vehicle do not exceed target lane boundary when changing lanes (`#8750 `_) +* feat(lane_change): add checks to ensure the edge of vehicle do not exceed target lane boundary when changing lanes (`#8750 `_) * check if LC candidate path footprint exceeds target lane far bound * add parameter to enable/disable check * check only lane changing section of cadidate path * fix spelling * small refactoring --------- -* fix(lane_change): set initail rtc state properly (`#8902 `_) +* fix(lane_change): set initail rtc state properly (`#8902 `_) set initail rtc state properly -* feat(lane_change): improve execution condition of lane change module (`#8648 `_) +* feat(lane_change): improve execution condition of lane change module (`#8648 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -765,21 +777,21 @@ Changelog for package autoware_behavior_path_lane_change_module * update readme * check distance to reg element for candidate path only if not near terminal start --------- -* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) +* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) * update rtc state transition * remove transition from failuer and succeeded * fix * check initial state for cooperate status * change rtc cooperate status according to module status --------- -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8653 `_) +* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8653 `_) fix:unusedFunction -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(lane_change): update rtc status for some failure condition (`#8604 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(lane_change): update rtc status for some failure condition (`#8604 `_) update rtc status for some failure condition -* fix(lane_change): activate turn signal as soon as we have the intention to change lanes (`#8571 `_) +* fix(lane_change): activate turn signal as soon as we have the intention to change lanes (`#8571 `_) * modify lane change requested condition * modify lane change requested condition * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -794,13 +806,13 @@ Changelog for package autoware_behavior_path_lane_change_module Co-authored-by: Muhammad Zulfaqar Azmi Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(lane_change): fix delay logic that caused timing to be late (`#8549 `_) +* feat(lane_change): fix delay logic that caused timing to be late (`#8549 `_) * RT1-5067 fix delay logic that caused timing to be late * remove autoware namespace Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(lane_change): modify lane change requested condition (`#8510 `_) +* fix(lane_change): modify lane change requested condition (`#8510 `_) * modify lane change requested condition * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> @@ -809,7 +821,7 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(lane_change): consider deceleration in safety check for cancel (`#7943 `_) +* feat(lane_change): consider deceleration in safety check for cancel (`#7943 `_) * feat(lane_change): consider deceleration in safety check for cancel * docs(lane_change): fix document * fix conflicts and refactor @@ -818,14 +830,14 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: Muhammad Zulfaqar Azmi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(lane_change): rename prepare_segment_ignore_object_velocity_thresh (`#8532 `_) +* refactor(lane_change): rename prepare_segment_ignore_object_velocity_thresh (`#8532 `_) change parameter name for more expressive name -* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) +* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) * goal_planner * lane_change --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) +* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) * function to check for merging lane * function to compute distance from last fit width center line point to lane end * ensure lane width at LC stop point is larger than ego width @@ -836,71 +848,71 @@ Changelog for package autoware_behavior_path_lane_change_module * minor refactoring * overload function isEgoWithinOriginalLane to pass lane polygon directly --------- -* refactor(lane_change): update filtered objects only once (`#8489 `_) -* fix(lane_change): moving object is filtered in the extended target lanes (`#8218 `_) +* refactor(lane_change): update filtered objects only once (`#8489 `_) +* fix(lane_change): moving object is filtered in the extended target lanes (`#8218 `_) * object 3rd * named param --------- -* fix(lane_change): do not cancel when approaching terminal start (`#8381 `_) +* fix(lane_change): do not cancel when approaching terminal start (`#8381 `_) * do not cancel if ego vehicle approaching terminal start * Insert stop point if object is coming from rear * minor edit to fix conflict * rename function --------- -* fix(lane_change): fix invalid doesn't have stop point (`#8470 `_) +* fix(lane_change): fix invalid doesn't have stop point (`#8470 `_) fix invalid doesn't have stop point -* fix(lane_change): unify stuck detection to avoid unnecessary computation (`#8383 `_) +* fix(lane_change): unify stuck detection to avoid unnecessary computation (`#8383 `_) unify stuck detection in getLaneChangePaths -* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) * add optional to tackle LC turn signal and pull over turn signal * CPP file should not re-define default value; typo in copying from internal repos --------- -* refactor(lane_change): separate leading and trailing objects (`#8214 `_) +* refactor(lane_change): separate leading and trailing objects (`#8214 `_) * refactor(lane_change): separate leading and trailing objects * Refactor to use common function --------- -* fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (`#8363 `_) +* fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (`#8363 `_) * fix when prepare length is insufficient * add reason for comparing prev_prep_diff with eps for lc_length_diff --------- -* fix(lane_change): skip generating path if lane changing path is too long (`#8362 `_) +* fix(lane_change): skip generating path if lane changing path is too long (`#8362 `_) rework. skip lane changing for insufficeient distance in target lane -* fix(lane_change): skip path computation if len exceed dist to terminal start (`#8359 `_) +* fix(lane_change): skip path computation if len exceed dist to terminal start (`#8359 `_) Skip computation if prepare length exceed distance to terminal start -* refactor(lane_change): refactor debug print when computing paths (`#8358 `_) +* refactor(lane_change): refactor debug print when computing paths (`#8358 `_) Refactor debug print -* chore(lane_change): add codeowner (`#8387 `_) -* refactor(lane_change): check start point directly after getting start point (`#8357 `_) +* chore(lane_change): add codeowner (`#8387 `_) +* refactor(lane_change): check start point directly after getting start point (`#8357 `_) * check start point directly after getting start point * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(lane_change): use different rss param to deal with parked vehicle (`#8316 `_) +* feat(lane_change): use different rss param to deal with parked vehicle (`#8316 `_) * different rss value for parked vehicle * Documentation and config file update --------- -* fix(lane_change): relax finish judge (`#8133 `_) +* fix(lane_change): relax finish judge (`#8133 `_) * fix(lane_change): relax finish judge * documentation update * update readme explanations * update config --------- -* feat(lane_change): force deactivation in prepare phase (`#8235 `_) +* feat(lane_change): force deactivation in prepare phase (`#8235 `_) transfer to cancel state when force deactivated -* fix(autoware_behavior_path_lane_change_module): fix passedByValue (`#8208 `_) +* fix(autoware_behavior_path_lane_change_module): fix passedByValue (`#8208 `_) fix:passedByValue -* fix(lane_change): filtering object ahead of terminal (`#8093 `_) +* fix(lane_change): filtering object ahead of terminal (`#8093 `_) * employ lanelet based filtering before distance based filtering * use distance based to terminal check instead * remove RCLCPP INFO * update flow chart --------- -* fix(lane_change): delay lane change cancel (`#8048 `_) +* fix(lane_change): delay lane change cancel (`#8048 `_) RT1-6955: delay lane change cancel -* feat(lane_change): enable force execution under unsafe conditions (`#8131 `_) +* feat(lane_change): enable force execution under unsafe conditions (`#8131 `_) add force execution conditions -* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) +* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) * refactor(lane_change): compute lanes and polygon only when updated * Revert accidental changesd This reverts commit cbfd9ae8a88b2d6c3b27b35c9a08bb824ecd5011. @@ -909,21 +921,21 @@ Changelog for package autoware_behavior_path_lane_change_module * add target lanes getter * some minor function refactoring --------- -* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp * update --------- -* fix(autoware_behavior_path_lane_change_module): fix shadowVariable (`#7964 `_) +* fix(autoware_behavior_path_lane_change_module): fix shadowVariable (`#7964 `_) fix:shadowVariable -* refactor(lane_change): move struct to lane change namespace (`#7841 `_) +* refactor(lane_change): move struct to lane change namespace (`#7841 `_) * move struct to lane change namespace * Revert "move struct to lane change namespace" This reverts commit 306984a76103c427732f170a6f7eb5f94e895b0b. --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(lane_change): prevent empty path when rerouting (`#7717 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(lane_change): prevent empty path when rerouting (`#7717 `_) fix(lane_change): prevent empty path when routing -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -931,18 +943,18 @@ Changelog for package autoware_behavior_path_lane_change_module * fix LC README * use normalized yaw diff --------- -* refactor(lane_change): use lane change namespace for structs (`#7508 `_) +* refactor(lane_change): use lane change namespace for structs (`#7508 `_) * refactor(lane_change): use lane change namespace for structs * Move lane change namespace to bottom level --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md index ba90713a221d9..3128374425348 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -475,9 +475,9 @@ Additionally if terminal path feature is enabled and path is computed, stop poin Generating path using Frenet planner applies only when ego is near terminal start -If the ego vehicle is far from the terminal, the lane change module defaults to using the [path shifter](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design/). This ensures that the lane change is completed while the target lane remains a neighbor of the current lane. However, this approach may result in high curvature paths near the terminal, potentially causing long vehicles to deviate from the lane. +If the ego vehicle is far from the terminal, the lane change module defaults to using the [path shifter](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design/). This ensures that the lane change is completed while the target lane remains a neighbor of the current lane. However, this approach may result in high curvature paths near the terminal, potentially causing long vehicles to deviate from the lane. -To address this, the lane change module provides an option to choose between the path shifter and the [Frenet planner](https://autowarefoundation.github.io/autoware.universe/main/planning/sampling_based_planner/autoware_frenet_planner/). The Frenet planner allows for some flexibility in the lane change endpoint, extending the lane changing end point slightly beyond the current lane's neighbors. +To address this, the lane change module provides an option to choose between the path shifter and the [Frenet planner](https://autowarefoundation.github.io/autoware_universe/main/planning/sampling_based_planner/autoware_frenet_planner/). The Frenet planner allows for some flexibility in the lane change endpoint, extending the lane changing end point slightly beyond the current lane's neighbors. The following table provides comparisons between the planners @@ -1005,7 +1005,7 @@ Furthermore, if the path has become unsafe, there are three possible outcomes fo 1. **CANCEL**: The approved path has become unsafe while ego is still in prepare phase. Lane change path is canceled, and the ego vehicle resumes its previous maneuver. 2. **ABORT**: The approved path has become unsafe while ego is in lane changing phase. Lane change module generates a return path to bring the ego vehicle back to its current lane. -3. **CRUISE** or **STOP**: If aborting is not feasible, the ego vehicle continues with the lane change. [Another module](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_obstacle_cruise_planner/) should decide whether the ego vehicle should cruise or stop in this scenario. +3. **CRUISE** or **STOP**: If aborting is not feasible, the ego vehicle continues with the lane change. [Another module](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_obstacle_cruise_planner/) should decide whether the ego vehicle should cruise or stop in this scenario. **CANCEL** can be enabled by setting the `cancel.enable_on_prepare_phase` flag to `true`, and **ABORT** can be enabled by setting the `cancel.enable_on_lane_changing_phase` flag to true. @@ -1425,7 +1425,7 @@ Available information ## Limitation -1. When a lane change is canceled, the lane change module returns `ModuleStatus::FAILURE`. As the module is removed from the approved module stack (see [Failure modules](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design/#failure-modules)), a new instance of the lane change module is initiated. Due to this, any information stored prior to the reset is lost. For example, the `lane_change_prepare_duration` in the `TransientData` is reset to its maximum value. -2. The lane change module has no knowledge of any velocity modifications introduced to the path after it is approved. This is because other modules may add deceleration points after subscribing to the behavior path planner output, and the final velocity is managed by the [velocity smoother](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_velocity_smoother/). Since this limitation affects **CANCEL**, the lane change module mitigates it by [sampling accelerations along the approved lane change path](#checking-approved-path-safety). These sampled accelerations are used during safety checks to estimate the velocity that might occur if the ego vehicle decelerates. +1. When a lane change is canceled, the lane change module returns `ModuleStatus::FAILURE`. As the module is removed from the approved module stack (see [Failure modules](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design/#failure-modules)), a new instance of the lane change module is initiated. Due to this, any information stored prior to the reset is lost. For example, the `lane_change_prepare_duration` in the `TransientData` is reset to its maximum value. +2. The lane change module has no knowledge of any velocity modifications introduced to the path after it is approved. This is because other modules may add deceleration points after subscribing to the behavior path planner output, and the final velocity is managed by the [velocity smoother](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_velocity_smoother/). Since this limitation affects **CANCEL**, the lane change module mitigates it by [sampling accelerations along the approved lane change path](#checking-approved-path-safety). These sampled accelerations are used during safety checks to estimate the velocity that might occur if the ego vehicle decelerates. 3. Ideally, the abort path should account for whether its execution would affect trailing vehicles in the current lane. However, the lane change module does not evaluate such interactions or assess whether the abort path is safe. As a result, **the abort path is not guaranteed to be safe**. To minimize the risk of unsafe situations, the abort maneuver is only permitted if the ego vehicle has not yet diverged from the current lane. 4. Due to limited resources, the abort path logic is not fully optimized. The generated path may overshoot, causing the return trajectory to slightly shift toward the opposite lane. This can be dangerous, especially if the opposite lane has traffic moving in the opposite direction. Furthermore, the logic does not account for different vehicle types, which can lead to varying effects. For instance, the behavior might differ significantly between a bus and a small passenger car. diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml index dc2f8347e1a7e..c3debd541927b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_lane_change_module - 0.42.0 + 0.43.0 The autoware_behavior_path_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 12853b165f433..04821c1a50abd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -105,6 +105,15 @@ BehaviorModuleOutput LaneChangeInterface::plan() resetPathCandidate(); resetPathReference(); + // plan() should be called only when the module is in the RUNNING state, but + // due to planner manager implementation, it can be called in the IDLE state. + // TODO(Azu, Quda): consider a proper fix. + if (getCurrentStatus() == ModuleStatus::IDLE) { + auto output = getPreviousModuleOutput(); + path_reference_ = std::make_shared(output.reference_path); + return output; + } + auto output = module_type_->generateOutput(); path_reference_ = std::make_shared(output.reference_path); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 606ac2604b8ea..aac9b1811f263 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -523,6 +523,9 @@ void NormalLaneChange::insert_stop_point( // if input is not current lane, we can just insert the points at terminal. if (!is_current_lane) { + if (common_data_ptr_->transient_data.next_dist_buffer.min < calculation::eps) { + return; + } const auto arc_length_to_stop_pose = motion_utils::calcArcLength(path.points) - common_data_ptr_->transient_data.next_dist_buffer.min; set_stop_pose(arc_length_to_stop_pose, path, "next lc terminal"); @@ -749,10 +752,8 @@ lanelet::ConstLanelets NormalLaneChange::get_lane_change_lanes( return forward_path_length + std::max(signed_distance, 0.0); }); - const auto backward_length = lane_change_parameters_->backward_lane_length; - return route_handler->getLaneletSequence( - lane_change_lane.value(), getEgoPose(), backward_length, forward_length); + lane_change_lane.value(), getEgoPose(), 0.0, forward_length); } bool NormalLaneChange::hasFinishedLaneChange() const diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp index 6ac07240a622f..4f96cad98a557 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp @@ -230,7 +230,8 @@ TEST_F(TestNormalLaneChange, testGetPathWhenInvalid) ASSERT_FALSE(lc_status.is_valid_path); } -TEST_F(TestNormalLaneChange, testFilteredObjects) +// TODO(Azu, Quda): Fix this test +TEST_F(TestNormalLaneChange, DISABLED_testFilteredObjects) { constexpr auto is_approved = true; ego_pose_ = autoware::test_utils::createPose(1.0, 1.75, 0.0, 0.0, 0.0, 0.0); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst index 1afd82c6c71bb..96ad08c407046 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst @@ -2,13 +2,35 @@ Changelog for package autoware_behavior_path_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* feat(behavior_path_planner_common): modify drivable area expansion to be able to avoid static objects (`#10220 `_) + * modify drivable area expansion to avoid static objects + * rename parameters and update drivable area design md + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * correct parameters description + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* fix(planning, control): reuse stamp of subscribed topic to measure component latency (`#10201 `_) + * fix(behavior_velocity_planner): reuse timestamp of recieved path + * fix(behavior_path_planner): check timestamp first in timer driven callback + * fix(trajectory_follower_node): check timestamp first in timer driven callback + * fix(vehicle_cmd_gate): reuse timestamp of recieved path + --------- +* Contributors: Hayato Mizushima, NorahXiong, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, mkquda + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (`#10180 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (`#10180 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -48,7 +70,7 @@ Changelog for package autoware_behavior_path_planner 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -57,19 +79,19 @@ Changelog for package autoware_behavior_path_planner 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(start_planner): visualize planner evaluation table in rviz (`#10029 `_) +* feat(start_planner): visualize planner evaluation table in rviz (`#10029 `_) visualize planner evaluation table in rviz -* feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset (`#9967 `_) +* feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset (`#9967 `_) * feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset * fix --------- -* refactor(behavior_path_planner): common test functions (`#9963 `_) +* refactor(behavior_path_planner): common test functions (`#9963 `_) * feat: common test code in behavior_path_planner * deal with other modules * fix typo * update --------- -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -93,17 +115,17 @@ Changelog for package autoware_behavior_path_planner * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* fix(planning): text revisions (`#9886 `_) +* fix(planning): text revisions (`#9886 `_) * fix(planning): text revisions * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs(bpp): revise explanation for Failure modules (`#9863 `_) -* feat(behavior_path_planner): use autoware internal stamped messages (`#9750 `_) +* docs(bpp): revise explanation for Failure modules (`#9863 `_) +* feat(behavior_path_planner): use autoware internal stamped messages (`#9750 `_) * feat(behavior_path_planner): use autoware internal stamped messages * fix universe_utils --------- @@ -112,28 +134,28 @@ Changelog for package autoware_behavior_path_planner 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* fix(bpp)!: remove stop reason (`#9449 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(bpp)!: remove stop reason (`#9449 `_) fix(bpp): remove stop reason * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(bpp): add velocity interface (`#9344 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(bpp): add velocity interface (`#9344 `_) * feat(bpp): add velocity interface * fix(adapi): subscribe additional velocity factors --------- -* refactor(factor): move steering factor interface to motion utils (`#9337 `_) -* refactor(bpp): rework steering factor interface (`#9325 `_) +* refactor(factor): move steering factor interface to motion utils (`#9337 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -144,8 +166,8 @@ Changelog for package autoware_behavior_path_planner * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -155,9 +177,9 @@ Changelog for package autoware_behavior_path_planner 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -168,41 +190,41 @@ Changelog for package autoware_behavior_path_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_behavior_path_planner): fix cppcheck unusedVariable (`#9193 `_) -* fix(behavior_path_planner): suppress reseting root lanelet (`#9129 `_) +* fix(autoware_behavior_path_planner): fix cppcheck unusedVariable (`#9193 `_) +* fix(behavior_path_planner): suppress reseting root lanelet (`#9129 `_) fix(behavior_path_planner): suppress resseting root lanelet -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* test(bpp_common): add test for object related functions (`#9062 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* test(bpp_common): add test for object related functions (`#9062 `_) * add test for object related functions * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR * fix build error --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(autoware_behavior_path_planner): fix syntaxError (`#8834 `_) +* fix(autoware_behavior_path_planner): fix syntaxError (`#8834 `_) fix:syntaxError -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) -* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) -* fix(docs): fix dead links in behavior path planner manager (`#8309 `_) +* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) +* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) +* fix(docs): fix dead links in behavior path planner manager (`#8309 `_) * fix dead links * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(behavior_path_planner, spellchecks): spell checks in behavior path planner (`#8307 `_) +* fix(behavior_path_planner, spellchecks): spell checks in behavior path planner (`#8307 `_) * fix spell checks in behavior path planner * try re-routable --------- -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -211,26 +233,26 @@ Changelog for package autoware_behavior_path_planner Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(autoware_behavior_path_planner): prevent infinite loop in approving scene module process (`#7881 `_) +* feat(autoware_behavior_path_planner): prevent infinite loop in approving scene module process (`#7881 `_) * prevent infinite loop * calculate max_iteration_num from number of scene modules * add doxygen explanation for calculateMaxIterationNum --------- -* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp * update --------- -* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) +* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) * feat(behavior_path_planner): remove max_module_size param The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/README.md b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md index 7300353e47165..63cbc578af0d1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md @@ -100,7 +100,7 @@ The Planner Manager's responsibilities include: | ~/input/route | ○ | `autoware_planning_msgs::msg::LaneletRoute` | Current route from start to goal | | ~/input/scenario | ○ | `autoware_internal_planning_msgs::msg::Scenario` | Launches Behavior Path Planner if current scenario == `Scenario:LaneDriving` | | ~/input/lateral_offset | △ | `tier4_planning_msgs::msg::LateralOffset` | Lateral offset to trigger side shift | -| ~/system/operation_mode/state | ○ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows the planning module to know if vehicle is in autonomous mode or if it can be controlled[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/operation-mode.md) | +| ~/system/operation_mode/state | ○ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows the planning module to know if vehicle is in autonomous mode or if it can be controlled[ref](https://github.com/autowarefoundation/autoware_universe/blob/main/system/autoware_default_adapi/document/operation-mode.md) | - ○ Mandatory: The planning module would not work if anyone of these were not present. - △ Optional: Some modules would not work, but the planning module can still be operated. @@ -129,7 +129,7 @@ The Planner Manager's responsibilities include: !!! note - For specific information about which topics are being subscribed to and published, refer to [behavior_path_planner.xml](https://github.com/autowarefoundation/autoware.universe/blob/9000f430c937764c14e43109539302f1f878ed70/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml#L36-L49). + For specific information about which topics are being subscribed to and published, refer to [behavior_path_planner.xml](https://github.com/autowarefoundation/autoware_universe/blob/9000f430c937764c14e43109539302f1f878ed70/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml#L36-L49). ## How to Enable or Disable Modules @@ -157,7 +157,7 @@ A sophisticated methodology is used for path generation, particularly focusing o The design involves complex mathematical formulations for calculating the lateral shift of the vehicle's path over time. These calculations include determining lateral displacement, velocity, and acceleration, while considering the vehicle's lateral acceleration and velocity limits. This is essential for ensuring that the vehicle's movements remain safe and manageable. -The `ShiftLine` struct (as seen [here](https://github.com/autowarefoundation/autoware.universe/blob/9000f430c937764c14e43109539302f1f878ed70/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp#L35-L48)) is utilized to represent points along the path where the lateral shift starts and ends. It includes details like the start and end points in absolute coordinates, the relative shift lengths at these points compared to the reference path, and the associated indexes on the reference path. This struct is integral to managing the path shifts, as it allows the path planner to dynamically adjust the trajectory based on the vehicle's current position and planned maneuver. +The `ShiftLine` struct (as seen [here](https://github.com/autowarefoundation/autoware_universe/blob/9000f430c937764c14e43109539302f1f878ed70/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp#L35-L48)) is utilized to represent points along the path where the lateral shift starts and ends. It includes details like the start and end points in absolute coordinates, the relative shift lengths at these points compared to the reference path, and the associated indexes on the reference path. This struct is integral to managing the path shifts, as it allows the path planner to dynamically adjust the trajectory based on the vehicle's current position and planned maneuver. Furthermore, the design and its implementation incorporate various equations and mathematical models to calculate essential parameters for the path shift. These include the total distance of the lateral shift, the maximum allowable lateral acceleration and jerk, and the total time required for the shift. Practical considerations are also noted, such as simplifying assumptions in the absence of a specific time interval for most lane change and avoidance cases. diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml index 2e4984afe7cff..bb3b4eddaddf1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml @@ -19,13 +19,15 @@ extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase extra_front_overhang: 0.5 # [m] extra length to add to the front overhang extra_width: 1.0 # [m] extra length to add to the width - dynamic_objects: - avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects - extra_footprint_offset: - front: 0.5 # [m] extra length to add to the front of the dynamic object footprint - rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint - left: 0.5 # [m] extra length to add to the left of the dynamic object footprint - right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint + object_exclusion: + exclude_static: true # if true, the drivable area is not expanded over static objects + exclude_dynamic: false # if true, the drivable area is not expanded in the predicted path of dynamic objects + th_stopped_object_velocity: 1.0 # [m/s] velocity threshold for static objects + safety_margin: + front: 0.75 # [m] margin to add to the front of object footprint + rear: 0.75 # [m] margin to add to the rear of object footprint + left: 0.75 # [m] margin to add to the left of object footprint + right: 0.75 # [m] margin to add to the rear of object footprint path_preprocessing: max_arc_length: 100.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml index 9f270b0637e16..4dd42e483fe7d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml @@ -1,5 +1,5 @@ # USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE. -# https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt +# https://github.com/autowarefoundation/autoware_universe/blob/main/planning/behavior_path_planner/CMakeLists.txt # NOTE: The smaller the priority number is, the higher the module priority is. /**: ros__parameters: diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md b/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md index 3b787303d8d20..e524063132914 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md @@ -101,7 +101,7 @@ void registerSceneModuleManager(const SceneModuleManagerPtr & manager_ptr) } ``` -Code is [here](https://github.com/autowarefoundation/autoware.universe/blob/b1734916e3efd9786507a271e0fe829dd37476c8/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp#L66-L75) +Code is [here](https://github.com/autowarefoundation/autoware_universe/blob/b1734916e3efd9786507a271e0fe829dd37476c8/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp#L66-L75) Sub-manager has the following parameters that are needed by the manager to manage the launched modules, and these parameters can be set for each module. @@ -116,7 +116,7 @@ struct ModuleConfigParameters }; ``` -Code is [here](https://github.com/autowarefoundation/autoware.universe/blob/b1734916e3efd9786507a271e0fe829dd37476c8/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp#L23-L30) +Code is [here](https://github.com/autowarefoundation/autoware_universe/blob/b1734916e3efd9786507a271e0fe829dd37476c8/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp#L23-L30) | Name | Type | Description | | :-------------------------------------------------- | :------ | :---------------------------------------------------------------------------------------------------------------------------------------------- | @@ -139,9 +139,9 @@ Scene modules receives necessary data and RTC command, and outputs candidate pat | :-- | :-------------------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | IN | `behavior_path_planner::BehaviorModuleOutput` | previous module output. contains data necessary for path planning. | | IN | `behavior_path_planner::PlannerData` | contains data necessary for path planning. | -| IN | `tier4_planning_msgs::srv::CooperateCommands` | contains approval data for scene module's path modification. ([details](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/autoware_rtc_interface/README.md)) | +| IN | `tier4_planning_msgs::srv::CooperateCommands` | contains approval data for scene module's path modification. ([details](https://github.com/autowarefoundation/autoware_universe/blob/main/planning/autoware_rtc_interface/README.md)) | | OUT | `behavior_path_planner::BehaviorModuleOutput` | contains modified path, turn signal information, etc... | -| OUT | `tier4_planning_msgs::msg::CooperateStatus` | contains RTC cooperate status. ([details](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/autoware_rtc_interface/README.md)) | +| OUT | `tier4_planning_msgs::msg::CooperateStatus` | contains RTC cooperate status. ([details](https://github.com/autowarefoundation/autoware_universe/blob/main/planning/autoware_rtc_interface/README.md)) | | OUT | `autoware_planning_msgs::msg::Path` | candidate path output by a module that has not received approval for path change. when it approved, the ego's following path is switched to this path. (just for visualization) | | OUT | `autoware_planning_msgs::msg::Path` | reference path generated from the centerline of the lane the ego is going to follow. (just for visualization) | | OUT | `visualization_msgs::msg::MarkerArray` | virtual wall, debug info, etc... | @@ -150,7 +150,7 @@ Scene modules running on the manager are stored on the **candidate modules stack | Stack | Approval condition | Description | | :---------------- | :----------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| candidate modules | Not approved | The candidate modules whose modified path has not been approved by [RTC](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/autoware_rtc_interface/README.md) is stored in vector `candidate_module_ptrs_` in the manager. The candidate modules stack is updated in the following order. 1. The manager selects only those modules that can be executed based on the configuration of the sub-manager whose scene module requests execution. 2. Determines the execution priority. 3. Executes them as candidate module. All of these modules receive the decided (approved) path from approved modules stack and **RUN in PARALLEL**.
![candidate_modules_stack](../image/manager/candidate_modules_stack.svg) | +| candidate modules | Not approved | The candidate modules whose modified path has not been approved by [RTC](https://github.com/autowarefoundation/autoware_universe/blob/main/planning/autoware_rtc_interface/README.md) is stored in vector `candidate_module_ptrs_` in the manager. The candidate modules stack is updated in the following order. 1. The manager selects only those modules that can be executed based on the configuration of the sub-manager whose scene module requests execution. 2. Determines the execution priority. 3. Executes them as candidate module. All of these modules receive the decided (approved) path from approved modules stack and **RUN in PARALLEL**.
![candidate_modules_stack](../image/manager/candidate_modules_stack.svg) | | approved modules | Already approved | When the path modification is approved via RTC commands, the manager moves the candidate module to approved modules stack. These modules are stored in `approved_module_ptrs_`. In this stack, all scene modules **RUN in SERIES**.
![approved_modules_stack](../image/manager/approved_modules_stack.svg) | ## Process flow @@ -313,7 +313,7 @@ detach } ``` -Code is [here](https://github.com/autowarefoundation/autoware.universe/blob/b1734916e3efd9786507a271e0fe829dd37476c8/planning/behavior_path_planner/src/planner_manager.cpp#L66-L111) +Code is [here](https://github.com/autowarefoundation/autoware_universe/blob/b1734916e3efd9786507a271e0fe829dd37476c8/planning/behavior_path_planner/src/planner_manager.cpp#L66-L111) ## Priority of execution request @@ -334,7 +334,7 @@ Compare priorities parameter among sub-managers to determine the order of execut } ``` -Code is [here](https://github.com/autowarefoundation/autoware.universe/blob/b1734916e3efd9786507a271e0fe829dd37476c8/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp#L239-L250) +Code is [here](https://github.com/autowarefoundation/autoware_universe/blob/b1734916e3efd9786507a271e0fe829dd37476c8/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp#L239-L250) In the future, however, we are considering having the priorities change dynamically depending on the situation in order to achieve more complex use cases. diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp index 215a9ee3bbb10..ce31085d9611b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include #include @@ -41,7 +42,6 @@ #include #include #include -#include #include #include @@ -112,7 +112,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node this, "~/input/lateral_offset"}; autoware_utils::InterProcessPollingSubscriber operation_mode_subscriber_{ this, "/system/operation_mode/state", rclcpp::QoS{1}.transient_local()}; - autoware_utils::InterProcessPollingSubscriber + autoware_utils::InterProcessPollingSubscriber external_limit_max_velocity_subscriber_{this, "/planning/scenario_planning/max_velocity"}; // publisher @@ -157,7 +157,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node void onOperationMode(const OperationModeState::ConstSharedPtr msg); void onLateralOffset(const LateralOffset::ConstSharedPtr msg); void on_external_velocity_limiter( - const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); + const autoware_internal_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); SetParametersResult onSetParam(const std::vector & parameters); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/test_utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/test_utils.hpp index 5e1718419f139..9c8c579af8731 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/test_utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/test_utils.hpp @@ -17,7 +17,7 @@ #include "autoware/behavior_path_planner/behavior_path_planner_node.hpp" -#include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml index 52a193b0934dc..d03467d46bc75 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner - 0.42.0 + 0.43.0 The behavior_path_planner package @@ -41,6 +41,7 @@ autoware_freespace_planning_algorithms autoware_frenet_planner autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_interpolation autoware_lane_departure_checker autoware_lanelet2_extension diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp index ef95c4fdbe90d..e0de7bfb88db7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp @@ -300,6 +300,8 @@ bool BehaviorPathPlannerNode::isDataReady() void BehaviorPathPlannerNode::run() { + const auto stamp = this->now(); + takeData(); if (!isDataReady()) { @@ -372,6 +374,7 @@ void BehaviorPathPlannerNode::run() // path handling const auto path = getPath(output, planner_data_, planner_manager_); + path->header.stamp = stamp; // update planner data planner_data_->prev_output_path = path; @@ -714,7 +717,6 @@ PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath( auto path = !output.path.points.empty() ? std::make_shared(output.path) : planner_data->prev_output_path; path->header = planner_data->route_handler->getRouteHeader(); - path->header.stamp = this->now(); PathWithLaneId connected_path; const auto module_status_ptr_vec = planner_manager->getSceneModuleStatus(); @@ -804,9 +806,12 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam( update_param( parameters, DrivableAreaExpansionParameters::ENABLED_PARAM, planner_data_->drivable_area_expansion_parameters.enabled); + update_param( + parameters, DrivableAreaExpansionParameters::AVOID_STA_OBJECTS_PARAM, + planner_data_->drivable_area_expansion_parameters.object_exclusion.exclude_static); update_param( parameters, DrivableAreaExpansionParameters::AVOID_DYN_OBJECTS_PARAM, - planner_data_->drivable_area_expansion_parameters.avoid_dynamic_objects); + planner_data_->drivable_area_expansion_parameters.object_exclusion.exclude_dynamic); update_param( parameters, DrivableAreaExpansionParameters::AVOID_LINESTRING_TYPES_PARAM, planner_data_->drivable_area_expansion_parameters.avoid_linestring_types); @@ -823,17 +828,20 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam( parameters, DrivableAreaExpansionParameters::EGO_EXTRA_WIDTH, planner_data_->drivable_area_expansion_parameters.extra_width); update_param( - parameters, DrivableAreaExpansionParameters::DYN_OBJECTS_EXTRA_OFFSET_FRONT, - planner_data_->drivable_area_expansion_parameters.dynamic_objects_extra_front_offset); + parameters, DrivableAreaExpansionParameters::OBJECTS_SAFE_MARGIN_FRONT, + planner_data_->drivable_area_expansion_parameters.object_exclusion.front_offset); + update_param( + parameters, DrivableAreaExpansionParameters::OBJECTS_SAFE_MARGIN_REAR, + planner_data_->drivable_area_expansion_parameters.object_exclusion.rear_offset); update_param( - parameters, DrivableAreaExpansionParameters::DYN_OBJECTS_EXTRA_OFFSET_REAR, - planner_data_->drivable_area_expansion_parameters.dynamic_objects_extra_rear_offset); + parameters, DrivableAreaExpansionParameters::OBJECTS_SAFE_MARGIN_LEFT, + planner_data_->drivable_area_expansion_parameters.object_exclusion.left_offset); update_param( - parameters, DrivableAreaExpansionParameters::DYN_OBJECTS_EXTRA_OFFSET_LEFT, - planner_data_->drivable_area_expansion_parameters.dynamic_objects_extra_left_offset); + parameters, DrivableAreaExpansionParameters::OBJECTS_SAFE_MARGIN_RIGHT, + planner_data_->drivable_area_expansion_parameters.object_exclusion.right_offset); update_param( - parameters, DrivableAreaExpansionParameters::DYN_OBJECTS_EXTRA_OFFSET_RIGHT, - planner_data_->drivable_area_expansion_parameters.dynamic_objects_extra_right_offset); + parameters, DrivableAreaExpansionParameters::STOPPED_OBJ_VEL_THRESH, + planner_data_->drivable_area_expansion_parameters.object_exclusion.stopped_obj_vel_th); update_param( parameters, DrivableAreaExpansionParameters::MAX_EXP_DIST_PARAM, planner_data_->drivable_area_expansion_parameters.max_expansion_distance); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp index e1e088c098e63..750825a260a6f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp @@ -15,7 +15,7 @@ #include "autoware/behavior_path_planner/test_utils.hpp" #include -#include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst index f463cf6a2452a..db4d4ce93b235 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst @@ -2,24 +2,42 @@ Changelog for package autoware_behavior_path_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(safety_check): set safety condition properly (`#10307 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* fix(autoware_behavior_path_planner_common): add explicit test dependency (`#10262 `_) +* feat(behavior_path_planner_common): modify drivable area expansion to be able to avoid static objects (`#10220 `_) + * modify drivable area expansion to avoid static objects + * rename parameters and update drivable area design md + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * correct parameters description + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Mete Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, mkquda, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) -* refactor(bpp_common): refactor calcBound (`#10096 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) +* refactor(bpp_common): refactor calcBound (`#10096 `_) refactor(bpp_common): refactor caclBound -* perf(behavior_path_planner): improve getOverlappedLaneletId (`#10094 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* docs(behaivor_path_planner_common): includes minor corrections (`#10042 `_) +* perf(behavior_path_planner): improve getOverlappedLaneletId (`#10094 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* docs(behaivor_path_planner_common): includes minor corrections (`#10042 `_) fix(planning): includes minor corrections -* docs(behavior_path_planner): fix dead link in path_generator (`#10040 `_) +* docs(behavior_path_planner): fix dead link in path_generator (`#10040 `_) * Contributors: Atto Armoo, Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -28,14 +46,14 @@ Changelog for package autoware_behavior_path_planner_common 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(start_planner): visualize planner evaluation table in rviz (`#10029 `_) +* feat(start_planner): visualize planner evaluation table in rviz (`#10029 `_) visualize planner evaluation table in rviz -* feat(static_obstacle_avoidance): output safety factor (`#10000 `_) +* feat(static_obstacle_avoidance): output safety factor (`#10000 `_) * feat(safety_check): convert to SafetyFactor * feat(static_obstacle_avoidance): use safety factor * fix(bpp): output detail --------- -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -59,21 +77,21 @@ Changelog for package autoware_behavior_path_planner_common * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* fix(autoware_behavior_path_planner_common): fix bugprone-errors (`#9700 `_) +* fix(autoware_behavior_path_planner_common): fix bugprone-errors (`#9700 `_) fix: bugprone-error * Contributors: Fumiya Watanabe, Kyoichi Sugahara, Mamoru Sobue, Satoshi OTA, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* build(behavior_path_planner_common): fix #include (`#6297 `_) -* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) +* build(behavior_path_planner_common): fix #include (`#6297 `_) +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) * feat(behavior_path_planner): add detail text to virutal wall * goal is far * pull over start pose is far @@ -81,8 +99,8 @@ Changelog for package autoware_behavior_path_planner_common * fix build * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp --------- -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(lane_change): check obj predicted path when filtering (`#9385 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(lane_change): check obj predicted path when filtering (`#9385 `_) * RT1-8537 check object's predicted path when filtering * use ranges view in get_line_string_paths * check only vehicle type predicted path @@ -93,39 +111,39 @@ Changelog for package autoware_behavior_path_planner_common * precommit and grammar fix --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* test(bpp_common): add unit test for utils (`#9469 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* test(bpp_common): add unit test for utils (`#9469 `_) * add easy unit test * fix clang tidy warning and add unit test * add more unit test * add docstring --------- -* test(bpp_common): add unit test for object filtering (`#9408 `_) +* test(bpp_common): add unit test for object filtering (`#9408 `_) * add unit test for all function * add function to create bounding nox object --------- -* test(bpp_common): add unit test for traffic light utils (`#9441 `_) +* test(bpp_common): add unit test for traffic light utils (`#9441 `_) * add test data for traffic light utils * add unit test function * fix style * use test_utils::resolve_plg_share_uri for map path --------- -* fix(bpp)!: remove stop reason (`#9449 `_) +* fix(bpp)!: remove stop reason (`#9449 `_) fix(bpp): remove stop reason * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(behavior_path_planner_common): add package maintainer (`#9429 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(behavior_path_planner_common): add package maintainer (`#9429 `_) add package maintainer -* refactor(lane_change): separate target lane leading based on obj behavior (`#9372 `_) +* refactor(lane_change): separate target lane leading based on obj behavior (`#9372 `_) * separate target lane leading objects based on behavior (RT1-8532) * fixed overlapped filtering and lanes debug marker * combine filteredObjects function @@ -141,27 +159,27 @@ Changelog for package autoware_behavior_path_planner_common * spell-check --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* refactor(goal_planner): rename shoulder_lane to pull_over_lane (`#9422 `_) -* fix(behavior_path_planner_common): prevent duplicated point insertion in cutOverlappedLanes (`#9363 `_) -* feat(behavior_path_planner_common): use azimuth for interpolatePose (`#9362 `_) -* test(bpp_common): add unit test for safety check (`#9386 `_) +* refactor(goal_planner): rename shoulder_lane to pull_over_lane (`#9422 `_) +* fix(behavior_path_planner_common): prevent duplicated point insertion in cutOverlappedLanes (`#9363 `_) +* feat(behavior_path_planner_common): use azimuth for interpolatePose (`#9362 `_) +* test(bpp_common): add unit test for safety check (`#9386 `_) * fix docstring * add basic collision test * add some more tests * add unit test for all functions * remove unecessary header and space --------- -* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) -* feat(bpp): add velocity interface (`#9344 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* feat(bpp): add velocity interface (`#9344 `_) * feat(bpp): add velocity interface * fix(adapi): subscribe additional velocity factors --------- -* refactor(factor): move steering factor interface to motion utils (`#9337 `_) -* fix(bpp): update collided polygon pose only once (`#9338 `_) +* refactor(factor): move steering factor interface to motion utils (`#9337 `_) +* fix(bpp): update collided polygon pose only once (`#9338 `_) * fix(bpp): update collided polygon pose only once * add expected pose --------- -* refactor(bpp): rework steering factor interface (`#9325 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -172,100 +190,100 @@ Changelog for package autoware_behavior_path_planner_common * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* test(bpp_common): add tests for the static drivable area (`#9324 `_) -* feat(goal_planner): safety check with only parking path (`#9293 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) +* test(bpp_common): add tests for the static drivable area (`#9324 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) * fix(behavior_path_planner_common): use boost intersects instead of overlaps * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp Co-authored-by: Go Sakayori --------- Co-authored-by: Go Sakayori -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(bpp): prevent accessing nullopt (`#9269 `_) -* test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) +* fix(bpp): prevent accessing nullopt (`#9269 `_) +* test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) * add unit test for path shifter * fix unnecessary modification * fix spelling mistake * add docstring --------- -* test(bpp_common): add unit test for safety check (`#9223 `_) +* test(bpp_common): add unit test for safety check (`#9223 `_) * add test for object collision * add test for more functions * add docstring * fix lane change --------- -* fix(bpp): prevent accessing nullopt (`#9204 `_) +* fix(bpp): prevent accessing nullopt (`#9204 `_) fix(bpp): calcDistanceToRedTrafficLight null * Contributors: Esteve Fernandez, Felix F Xu, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Shumpei Wakabayashi, Yutaka Kondo, Zulfaqar Azmi, mkquda 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(goal_planner): safety check with only parking path (`#9293 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) * fix(behavior_path_planner_common): use boost intersects instead of overlaps * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp Co-authored-by: Go Sakayori --------- Co-authored-by: Go Sakayori -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(bpp): prevent accessing nullopt (`#9269 `_) -* test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) +* fix(bpp): prevent accessing nullopt (`#9269 `_) +* test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) * add unit test for path shifter * fix unnecessary modification * fix spelling mistake * add docstring --------- -* test(bpp_common): add unit test for safety check (`#9223 `_) +* test(bpp_common): add unit test for safety check (`#9223 `_) * add test for object collision * add test for more functions * add docstring * fix lane change --------- -* fix(bpp): prevent accessing nullopt (`#9204 `_) +* fix(bpp): prevent accessing nullopt (`#9204 `_) fix(bpp): calcDistanceToRedTrafficLight null * Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Shumpei Wakabayashi, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(traffic_light_utils): prevent accessing nullopt (`#9163 `_) -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(traffic_light_utils): prevent accessing nullopt (`#9163 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* test(bpp_common): add test for path utils (`#9122 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* test(bpp_common): add test for path utils (`#9122 `_) * add test file for path utils * fix * add tests for map irrelevant function * add test for getUnshiftedEgoPose * add docstring and remove unneccesary function --------- -* feat(test_utils): add simple path with lane id generator (`#9113 `_) +* 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 --------- -* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) +* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) * RT1-7970 testing base class * additional test * Added update lanes @@ -273,88 +291,88 @@ Changelog for package autoware_behavior_path_planner_common * check is lane change required * fix PRs comment --------- -* test(bpp_common): add test for objects filtering except for lanelet using functions (`#9049 `_) +* test(bpp_common): add test for objects filtering except for lanelet using functions (`#9049 `_) * add test for objects filtering except for lanelet using functions * remove unnecessary include file * add doxygen --------- -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* 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 --------- -* test(bpp_common): add test for occupancy grid based collision detector (`#9066 `_) +* test(bpp_common): add test for occupancy grid based collision detector (`#9066 `_) * add test for occupancy grid based collision detector * remove unnnecessary header * fix * change map resolution and corresponding index --------- -* test(bpp_common): add test for parking departure utils (`#9055 `_) +* test(bpp_common): add test for parking departure utils (`#9055 `_) * add test for parking departure utils * fix * fix typo * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR --------- -* test(bpp_common): add test for object related functions (`#9062 `_) +* test(bpp_common): add test for object related functions (`#9062 `_) * add test for object related functions * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR * fix build error --------- -* test(bpp_common): add test for footprint (`#9056 `_) +* test(bpp_common): add test for footprint (`#9056 `_) add test for footprint -* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) +* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) * refactor(lane_change): refactor get_lane_change_lanes function * Add doxygen comment for to_geom_msg_pose --------- -* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) fix filter object by velocity -* feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (`#9005 `_) +* feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (`#9005 `_) * feat(turn_signal_decider): disable feature of turning off blinker at low velocity --------- -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(behavior_path_planner): fix rtc state update logic (`#8899 `_) +* fix(behavior_path_planner): fix rtc state update logic (`#8899 `_) * fix function updateRTCStatus * fix pre-commit --------- -* test(autoware_behavior_path_planner_common): add tests for calcInterpolatedPoseWithVelocity (`#8270 `_) +* test(autoware_behavior_path_planner_common): add tests for calcInterpolatedPoseWithVelocity (`#8270 `_) * test: add interpolated pose calculation function's test * disabled SpecialCases test --------- -* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) -* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) -* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8736 `_) +* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) +* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8736 `_) fix:unusedFunction -* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8707 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8707 `_) * fix:createDrivableLanesMarkerArray and setDecelerationVelocity * fix:convertToSnakeCase * fix:clang format --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8654 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8654 `_) * fix:unusedFunction 0-2 * fix:unusedFunction 3-5 * fix:unusedFunction --------- -* chore(behavior_path_planner_common): update road_shoulder test_map (`#8550 `_) -* perf(goal_planner): faster path sorting and selection (`#8457 `_) +* chore(behavior_path_planner_common): update road_shoulder test_map (`#8550 `_) +* perf(goal_planner): faster path sorting and selection (`#8457 `_) * perf(goal_planner): faster path sorting and selection * path_id_to_rough_margin_map --------- -* feat(behavior_path_planner_common): add calculateRoughDistanceToObjects (`#8464 `_) -* fix(autoware_behavior_path_planner_common): fix variableScope (`#8443 `_) +* feat(behavior_path_planner_common): add calculateRoughDistanceToObjects (`#8464 `_) +* fix(autoware_behavior_path_planner_common): fix variableScope (`#8443 `_) fix:variableScope -* refactor(safety_checker): remove redundant polygon creation (`#8502 `_) -* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) +* refactor(safety_checker): remove redundant polygon creation (`#8502 `_) +* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) * function to check for merging lane * function to compute distance from last fit width center line point to lane end * ensure lane width at LC stop point is larger than ego width @@ -365,54 +383,54 @@ Changelog for package autoware_behavior_path_planner_common * minor refactoring * overload function isEgoWithinOriginalLane to pass lane polygon directly --------- -* feat(behavior_path_planner_common): add road_shoulder test map (`#8454 `_) -* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) +* feat(behavior_path_planner_common): add road_shoulder test map (`#8454 `_) +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) * add optional to tackle LC turn signal and pull over turn signal * CPP file should not re-define default value; typo in copying from internal repos --------- -* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) +* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) * perf(safety_check): check within first * perf(static_obstacle_avoidance): remove duplicated process * perf(static_obstacle_avoidance): remove heavy process --------- -* fix(start/goal_planner): align geometric parall parking start pose with center line (`#8326 `_) -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* feat(path_safety_checker): add rough collision check (`#8193 `_) +* fix(start/goal_planner): align geometric parall parking start pose with center line (`#8326 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* feat(path_safety_checker): add rough collision check (`#8193 `_) * feat(path_safety_checker): add rough collision check * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp --------- -* fix(autoware_behavior_path_planner_common): fix passedByValue (`#8209 `_) +* fix(autoware_behavior_path_planner_common): fix passedByValue (`#8209 `_) * fix:clang format * fix:passedByValue * fix:passedByValue --------- -* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) -* fix(bpp): fix approved request search (`#8119 `_) +* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) +* fix(bpp): fix approved request search (`#8119 `_) fix existApprovedRequest condition -* fix(bpp, rtc_interface): fix state transition (`#7743 `_) +* fix(bpp, rtc_interface): fix state transition (`#7743 `_) * fix(rtc_interface): check rtc state * fix(bpp_interface): check rtc state * feat(rtc_interface): print --------- -* fix(autoware_behavior_path_planner_common): fix constParameterReference (`#8045 `_) +* fix(autoware_behavior_path_planner_common): fix constParameterReference (`#8045 `_) fix:constParameterReference -* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp * update --------- -* fix(autoware_behavior_path_planner_common): fix shadowVariable (`#7965 `_) +* fix(autoware_behavior_path_planner_common): fix shadowVariable (`#7965 `_) fix:shadowVariable -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* fix(autoware_behavior_path_planner_common): fix knownConditionTrueFalse (`#7816 `_) -* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) +* fix(autoware_behavior_path_planner_common): fix knownConditionTrueFalse (`#7816 `_) +* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) * feat(behavior_path_planner): remove max_module_size param The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -420,25 +438,25 @@ Changelog for package autoware_behavior_path_planner_common * fix LC README * use normalized yaw diff --------- -* fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning (`#7675 `_) +* fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning (`#7675 `_) * fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning * fix type --------- -* fix(autoware_behavior_path_planner_common): fix shadowArgument warning in getDistanceToCrosswalk (`#7665 `_) -* fix(autoware_behavior_path_planner_common): fix shadowArgument warning (`#7623 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_path_planner_common): fix redundantContinue warning (`#7578 `_) -* fix(behavior_path_planner): fix redundantAssignment warning (`#7560 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_behavior_path_planner_common): fix shadowArgument warning in getDistanceToCrosswalk (`#7665 `_) +* fix(autoware_behavior_path_planner_common): fix shadowArgument warning (`#7623 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_planner_common): fix redundantContinue warning (`#7578 `_) +* fix(behavior_path_planner): fix redundantAssignment warning (`#7560 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(behavior_path_planner): fix redundantIfRemove warning (`#7544 `_) -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* fix(behavior_path_planner): fix redundantIfRemove warning (`#7544 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) Co-authored-by: Fumiya Watanabe -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -455,15 +473,15 @@ Changelog for package autoware_behavior_path_planner_common fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index 35fa1584c4635..03e7e81b719aa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -42,6 +42,10 @@ if(BUILD_TESTING) ${PROJECT_NAME} ) + ament_target_dependencies(test_${PROJECT_NAME}_utilities + autoware_test_utils + ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_drivable_area_expansion test/test_drivable_area_expansion.cpp test/test_footprints.cpp @@ -52,6 +56,10 @@ if(BUILD_TESTING) ${PROJECT_NAME} ) + ament_target_dependencies(test_${PROJECT_NAME}_drivable_area_expansion + autoware_test_utils + ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_occupancy_grid_based_collision_detector test/test_occupancy_grid_based_collision_detector.cpp ) @@ -60,6 +68,10 @@ if(BUILD_TESTING) ${PROJECT_NAME} ) + ament_target_dependencies(test_${PROJECT_NAME}_occupancy_grid_based_collision_detector + autoware_test_utils + ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_safety_check test/test_safety_check.cpp test/test_objects_filtering.cpp @@ -69,6 +81,10 @@ if(BUILD_TESTING) ${PROJECT_NAME} ) + ament_target_dependencies(test_${PROJECT_NAME}_safety_check + autoware_test_utils + ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_parking_departure test/test_parking_departure_utils.cpp ) @@ -77,6 +93,10 @@ if(BUILD_TESTING) ${PROJECT_NAME} ) + ament_target_dependencies(test_${PROJECT_NAME}_parking_departure + autoware_test_utils + ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_path_shifter test/test_path_shifter.cpp ) @@ -85,6 +105,10 @@ if(BUILD_TESTING) ${PROJECT_NAME} ) + ament_target_dependencies(test_${PROJECT_NAME}_path_shifter + autoware_test_utils + ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_turn_signal test/test_turn_signal.cpp ) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md index 015ffcdfd8f3b..5f153bd6e8f7b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md @@ -32,27 +32,29 @@ Currently, when clipping left bound or right bound, it can clip the bound more t ### Dynamic expansion -| Name | Unit | Type | Description | Default value | -| :------------------------------------------- | :---- | :----------- | :------------------------------------------------------------------------------------------------------ | :--------------------------- | -| enabled | [-] | boolean | if true, dynamically expand the drivable area based on the path curvature | true | -| print_runtime | [-] | boolean | if true, runtime is logged by the node | true | -| max_expansion_distance | [m] | double | maximum distance by which the original drivable area can be expanded (no limit if set to 0) | 0.0 | -| smoothing.curvature_average_window | [-] | int | window size used for smoothing the curvatures using a moving window average | 3 | -| smoothing.max_bound_rate | [m/m] | double | maximum rate of change of the bound lateral distance over its arc length | 1.0 | -| smoothing.arc_length_range | [m] | double | arc length range where an expansion distance is initially applied | 2.0 | -| ego.extra_wheel_base | [m] | double | extra ego wheelbase | 0.0 | -| ego.extra_front_overhang | [m] | double | extra ego overhang | 0.5 | -| ego.extra_width | [m] | double | extra ego width | 1.0 | -| dynamic_objects.avoid | [-] | boolean | if true, the drivable area is not expanded in the predicted path of dynamic objects | true | -| dynamic_objects.extra_footprint_offset.front | [m] | double | extra length to add to the front of the ego footprint | 0.5 | -| dynamic_objects.extra_footprint_offset.rear | [m] | double | extra length to add to the rear of the ego footprint | 0.5 | -| dynamic_objects.extra_footprint_offset.left | [m] | double | extra length to add to the left of the ego footprint | 0.5 | -| dynamic_objects.extra_footprint_offset.right | [m] | double | extra length to add to the rear of the ego footprint | 0.5 | -| path_preprocessing.max_arc_length | [m] | double | maximum arc length along the path where the ego footprint is projected (0.0 means no limit) | 100.0 | -| path_preprocessing.resample_interval | [m] | double | fixed interval between resampled path points (0.0 means path points are directly used) | 2.0 | -| path_preprocessing.reuse_max_deviation | [m] | double | if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused | 0.5 | -| avoid_linestring.types | [-] | string array | linestring types in the lanelet maps that will not be crossed when expanding the drivable area | ["road_border", "curbstone"] | -| avoid_linestring.distance | [m] | double | distance to keep between the drivable area and the linestrings to avoid | 0.0 | +| Name | Unit | Type | Description | Default value | +| :------------------------------------------ | :---- | :----------- | :------------------------------------------------------------------------------------------------------ | :--------------------------- | +| enabled | [-] | boolean | if true, dynamically expand the drivable area based on the path curvature | true | +| print_runtime | [-] | boolean | if true, runtime is logged by the node | true | +| max_expansion_distance | [m] | double | maximum distance by which the original drivable area can be expanded (no limit if set to 0) | 0.0 | +| smoothing.curvature_average_window | [-] | int | window size used for smoothing the curvatures using a moving window average | 3 | +| smoothing.max_bound_rate | [m/m] | double | maximum rate of change of the bound lateral distance over its arc length | 1.0 | +| smoothing.arc_length_range | [m] | double | arc length range where an expansion distance is initially applied | 2.0 | +| ego.extra_wheel_base | [m] | double | extra ego wheelbase | 0.0 | +| ego.extra_front_overhang | [m] | double | extra ego overhang | 0.5 | +| ego.extra_width | [m] | double | extra ego width | 1.0 | +| object_exclusion.exclude_static | [-] | boolean | if true, the drivable area is not expanded over static objects | true | +| object_exclusion.exclude_dynamic | [-] | boolean | if true, the drivable area is not expanded in the predicted path of dynamic objects | true | +| object_exclusion.th_stopped_object_velocity | [m/s] | double | velocity threshold for static objects | 1.0 | +| object_exclusion.safety_margin.front | [m] | double | extra length to add to the front of the object footprint | 0.75 | +| object_exclusion.safety_margin.rear | [m] | double | extra length to add to the rear of the object footprint | 0.75 | +| object_exclusion.safety_margin.left | [m] | double | extra length to add to the left of the object footprint | 0.75 | +| object_exclusion.safety_margin.right | [m] | double | extra length to add to the right of the object footprint | 0.75 | +| path_preprocessing.max_arc_length | [m] | double | maximum arc length along the path where the ego footprint is projected (0.0 means no limit) | 100.0 | +| path_preprocessing.resample_interval | [m] | double | fixed interval between resampled path points (0.0 means path points are directly used) | 2.0 | +| path_preprocessing.reuse_max_deviation | [m] | double | if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused | 0.5 | +| avoid_linestring.types | [-] | string array | linestring types in the lanelet maps that will not be crossed when expanding the drivable area | ["road_border", "curbstone"] | +| avoid_linestring.distance | [m] | double | distance to keep between the drivable area and the linestrings to avoid | 0.0 | ## Inner-workings / Algorithms @@ -133,9 +135,14 @@ This equation was derived from the work of [Lim, H., Kim, C., and Jo, A., "Model ![min width](../images/drivable_area/DynamicDrivableArea-MinWidth.drawio.svg) -##### 3 Calculate maximum expansion distances of each bound point based on dynamic objects and linestring of the vector map (optional) +##### 3 Calculate maximum expansion distances of each bound point based on detected objects and linestring of the vector map (optional) + +For each drivable area bound point, we calculate its maximum expansion distance as its distance to the closest "obstacle" which could be: + +1. Map linestring with type `avoid_linestrings.type`. +2. Static object footprint (if `object_exclusion.exclude_static` is set to `true`). +3. Dynamic object path footprint (if `object_exclusion.exclude_dynamic` is set to `true`). -For each drivable area bound point, we calculate its maximum expansion distance as its distance to the closest "obstacle" (either a map linestring with type `avoid_linestrings.type`, or a dynamic object footprint if `dynamic_objects.avoid` is set to `true`). If `max_expansion_distance` is not `0.0`, it is use here if smaller than the distance to the closest obstacle. ![max distances](../images/drivable_area/DynamicDrivableArea-MaxWidth.drawio.svg) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design.md b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design.md index 07b59e5bcd712..490b2a43dc37e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design.md +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design.md @@ -1,10 +1,10 @@ # Path Generation Design -This document explains how the path is generated for lane change and avoidance, etc. The implementation can be found in [path_shifter.hpp](https://github.com/autowarefoundation/autoware.universe/blob/fcd1c7bdbb7bef749b57e8c13ba255fa4e7de2ae/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp). +This document explains how the path is generated for lane change and avoidance, etc. The implementation can be found in [path_shifter.hpp](https://github.com/autowarefoundation/autoware_universe/blob/fcd1c7bdbb7bef749b57e8c13ba255fa4e7de2ae/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp). ## Overview -The base idea of the path generation in lane change and avoidance is to smoothly shift the reference path, such as the center line, in the lateral direction. This is achieved by using a constant-jerk profile as in the figure below. More details on how it is used can be found in [README](https://github.com/autowarefoundation/autoware.universe/blob/fcd1c7bdbb7bef749b57e8c13ba255fa4e7de2ae/planning/behavior_path_planner/autoware_behavior_path_planner/README.md). It is assumed that the reference path is smooth enough for this algorithm. +The base idea of the path generation in lane change and avoidance is to smoothly shift the reference path, such as the center line, in the lateral direction. This is achieved by using a constant-jerk profile as in the figure below. More details on how it is used can be found in [README](https://github.com/autowarefoundation/autoware_universe/blob/fcd1c7bdbb7bef749b57e8c13ba255fa4e7de2ae/planning/behavior_path_planner/autoware_behavior_path_planner/README.md). It is assumed that the reference path is smooth enough for this algorithm. The figure below explains how the application of a constant lateral jerk $l^{'''}(s)$ can be used to induce lateral shifting. In order to comply with the limits on lateral acceleration and velocity, zero-jerk time is employed in the figure ( $T_a$ and $T_v$ ). In each interval where constant jerk is applied, the shift position $l(s)$ can be characterized by a third-degree polynomial. Therefore the shift length from the reference path can then be calculated by combining spline curves. diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp index f19793ea417a3..13b34ec6c9ed8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp @@ -27,6 +27,7 @@ #include #include +#include #include #include #include @@ -38,7 +39,6 @@ #include #include #include -#include #include #include @@ -65,8 +65,8 @@ using nav_msgs::msg::OccupancyGrid; using nav_msgs::msg::Odometry; using tier4_planning_msgs::msg::LateralOffset; using PlanResult = PathWithLaneId::SharedPtr; +using autoware_internal_planning_msgs::msg::VelocityLimit; using lanelet::TrafficLight; -using tier4_planning_msgs::msg::VelocityLimit; using unique_identifier_msgs::msg::UUID; struct TrafficSignalStamped diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index b2b0ff6184005..629acd344c569 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -57,11 +57,11 @@ using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInt using autoware::planning_factor_interface::PlanningFactorInterface; using autoware::rtc_interface::RTCInterface; using autoware_internal_planning_msgs::msg::PathWithLaneId; +using autoware_internal_planning_msgs::msg::PlanningFactor; +using autoware_internal_planning_msgs::msg::SafetyFactorArray; using autoware_utils::calc_offset_pose; using autoware_utils::generate_uuid; using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; -using tier4_planning_msgs::msg::PlanningFactor; -using tier4_planning_msgs::msg::SafetyFactorArray; using tier4_rtc_msgs::msg::State; using unique_identifier_msgs::msg::UUID; using visualization_msgs::msg::MarkerArray; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp index d3b7da8c4d03f..db8cb0fb0d223 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp @@ -33,14 +33,16 @@ struct DrivableAreaExpansionParameters static constexpr auto EGO_EXTRA_FRONT_OVERHANG = "dynamic_expansion.ego.extra_front_overhang"; static constexpr auto EGO_EXTRA_WHEELBASE = "dynamic_expansion.ego.extra_wheelbase"; static constexpr auto EGO_EXTRA_WIDTH = "dynamic_expansion.ego.extra_width"; - static constexpr auto DYN_OBJECTS_EXTRA_OFFSET_FRONT = - "dynamic_expansion.dynamic_objects.extra_footprint_offset.front"; - static constexpr auto DYN_OBJECTS_EXTRA_OFFSET_REAR = - "dynamic_expansion.dynamic_objects.extra_footprint_offset.rear"; - static constexpr auto DYN_OBJECTS_EXTRA_OFFSET_LEFT = - "dynamic_expansion.dynamic_objects.extra_footprint_offset.left"; - static constexpr auto DYN_OBJECTS_EXTRA_OFFSET_RIGHT = - "dynamic_expansion.dynamic_objects.extra_footprint_offset.right"; + static constexpr auto OBJECTS_SAFE_MARGIN_FRONT = + "dynamic_expansion.object_exclusion.safety_margin.front"; + static constexpr auto OBJECTS_SAFE_MARGIN_REAR = + "dynamic_expansion.object_exclusion.safety_margin.rear"; + static constexpr auto OBJECTS_SAFE_MARGIN_LEFT = + "dynamic_expansion.object_exclusion.safety_margin.left"; + static constexpr auto OBJECTS_SAFE_MARGIN_RIGHT = + "dynamic_expansion.object_exclusion.safety_margin.right"; + static constexpr auto STOPPED_OBJ_VEL_THRESH = + "dynamic_expansion.object_exclusion.th_stopped_object_velocity"; static constexpr auto MAX_EXP_DIST_PARAM = "dynamic_expansion.max_expansion_distance"; static constexpr auto RESAMPLE_INTERVAL_PARAM = "dynamic_expansion.path_preprocessing.resample_interval"; @@ -48,7 +50,10 @@ struct DrivableAreaExpansionParameters "dynamic_expansion.path_preprocessing.max_arc_length"; static constexpr auto MAX_REUSE_DEVIATION_PARAM = "dynamic_expansion.path_preprocessing.reuse_max_deviation"; - static constexpr auto AVOID_DYN_OBJECTS_PARAM = "dynamic_expansion.dynamic_objects.avoid"; + static constexpr auto AVOID_STA_OBJECTS_PARAM = + "dynamic_expansion.object_exclusion.exclude_static"; + static constexpr auto AVOID_DYN_OBJECTS_PARAM = + "dynamic_expansion.object_exclusion.exclude_dynamic"; static constexpr auto AVOID_LINESTRING_TYPES_PARAM = "dynamic_expansion.avoid_linestring.types"; static constexpr auto AVOID_LINESTRING_DIST_PARAM = "dynamic_expansion.avoid_linestring.distance"; static constexpr auto SMOOTHING_CURVATURE_WINDOW_PARAM = @@ -72,18 +77,25 @@ struct DrivableAreaExpansionParameters double extra_width{}; int curvature_average_window{}; double max_bound_rate{}; - double dynamic_objects_extra_left_offset{}; - double dynamic_objects_extra_right_offset{}; - double dynamic_objects_extra_rear_offset{}; - double dynamic_objects_extra_front_offset{}; double max_expansion_distance{}; double max_path_arc_length{}; double resample_interval{}; double arc_length_range{}; double max_reuse_deviation{}; double min_bound_interval{}; - bool avoid_dynamic_objects{}; bool print_runtime{}; + + struct ObjectExclusion + { + bool exclude_static{}; + bool exclude_dynamic{}; + double front_offset{}; + double rear_offset{}; + double left_offset{}; + double right_offset{}; + double stopped_obj_vel_th{}; + } object_exclusion; + std::vector avoid_linestring_types{}; autoware::vehicle_info_utils::VehicleInfo vehicle_info; @@ -109,17 +121,15 @@ struct DrivableAreaExpansionParameters max_path_arc_length = node.declare_parameter(MAX_PATH_ARC_LENGTH_PARAM); resample_interval = node.declare_parameter(RESAMPLE_INTERVAL_PARAM); max_reuse_deviation = node.declare_parameter(MAX_REUSE_DEVIATION_PARAM); - dynamic_objects_extra_front_offset = - node.declare_parameter(DYN_OBJECTS_EXTRA_OFFSET_FRONT); - dynamic_objects_extra_rear_offset = - node.declare_parameter(DYN_OBJECTS_EXTRA_OFFSET_REAR); - dynamic_objects_extra_left_offset = - node.declare_parameter(DYN_OBJECTS_EXTRA_OFFSET_LEFT); - dynamic_objects_extra_right_offset = - node.declare_parameter(DYN_OBJECTS_EXTRA_OFFSET_RIGHT); + object_exclusion.exclude_static = node.declare_parameter(AVOID_STA_OBJECTS_PARAM); + object_exclusion.exclude_dynamic = node.declare_parameter(AVOID_DYN_OBJECTS_PARAM); + object_exclusion.stopped_obj_vel_th = node.declare_parameter(STOPPED_OBJ_VEL_THRESH); + object_exclusion.front_offset = node.declare_parameter(OBJECTS_SAFE_MARGIN_FRONT); + object_exclusion.rear_offset = node.declare_parameter(OBJECTS_SAFE_MARGIN_REAR); + object_exclusion.left_offset = node.declare_parameter(OBJECTS_SAFE_MARGIN_LEFT); + object_exclusion.right_offset = node.declare_parameter(OBJECTS_SAFE_MARGIN_RIGHT); avoid_linestring_types = node.declare_parameter>(AVOID_LINESTRING_TYPES_PARAM); - avoid_dynamic_objects = node.declare_parameter(AVOID_DYN_OBJECTS_PARAM); avoid_linestring_dist = node.declare_parameter(AVOID_LINESTRING_DIST_PARAM); min_bound_interval = node.declare_parameter(MIN_BOUND_INTERVAL); print_runtime = node.declare_parameter(PRINT_RUNTIME_PARAM); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp index 04f70ffbe63e5..d642a8528efc5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp @@ -22,11 +22,11 @@ #include #include +#include #include #include #include #include -#include #include #include @@ -286,7 +286,7 @@ CollisionCheckDebugPair createObjectDebug(const ExtendedPredictedObject & obj); void updateCollisionCheckDebugMap( CollisionCheckDebugMap & debug_map, CollisionCheckDebugPair & object_debug, bool is_safe); -tier4_planning_msgs::msg::SafetyFactorArray to_safety_factor_array( +autoware_internal_planning_msgs::msg::SafetyFactorArray to_safety_factor_array( const CollisionCheckDebugMap & debug_map); } // namespace autoware::behavior_path_planner::utils::path_safety_checker diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index f5e65f385522e..7f4caecddd025 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner_common - 0.42.0 + 0.43.0 The autoware_behavior_path_planner_common package @@ -45,6 +45,7 @@ autoware_adapi_v1_msgs autoware_freespace_planning_algorithms + autoware_internal_planning_msgs autoware_interpolation autoware_lane_departure_checker autoware_lanelet2_extension diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp index 6aadd37dda8f5..e93187fd128ff 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp @@ -15,6 +15,7 @@ #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp" #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp" +#include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp" #include #include @@ -44,20 +45,41 @@ MultiPolygon2d create_object_footprints( const autoware_perception_msgs::msg::PredictedObjects & objects, const DrivableAreaExpansionParameters & params) { + using behavior_path_planner::utils::path_safety_checker::filter::velocity_filter; + MultiPolygon2d footprints; - if (params.avoid_dynamic_objects) { - for (const auto & object : objects.objects) { - const auto front = object.shape.dimensions.x / 2 + params.dynamic_objects_extra_front_offset; - const auto rear = -object.shape.dimensions.x / 2 - params.dynamic_objects_extra_rear_offset; - const auto left = object.shape.dimensions.y / 2 + params.dynamic_objects_extra_left_offset; - const auto right = -object.shape.dimensions.y / 2 - params.dynamic_objects_extra_right_offset; - Polygon2d base_footprint; - base_footprint.outer() = { - Point2d{front, left}, Point2d{front, right}, Point2d{rear, right}, Point2d{rear, left}, - Point2d{front, left}}; + if (!params.object_exclusion.exclude_dynamic && !params.object_exclusion.exclude_static) { + return footprints; + } + + auto get_base_footprint = [&](const auto & object) { + const auto front = object.shape.dimensions.x / 2 + params.object_exclusion.front_offset; + const auto rear = -object.shape.dimensions.x / 2 - params.object_exclusion.rear_offset; + const auto left = object.shape.dimensions.y / 2 + params.object_exclusion.left_offset; + const auto right = -object.shape.dimensions.y / 2 - params.object_exclusion.right_offset; + Polygon2d footprint; + footprint.outer() = { + Point2d{front, left}, Point2d{front, right}, Point2d{rear, right}, Point2d{rear, left}, + Point2d{front, left}}; + return footprint; + }; + + for (const auto & object : objects.objects) { + const auto base_footprint = get_base_footprint(object); + if (params.object_exclusion.exclude_dynamic) { for (const auto & path : object.kinematics.predicted_paths) for (const auto & pose : path.path) footprints.push_back(create_footprint(pose, base_footprint)); + continue; + } + + if ( + params.object_exclusion.exclude_static && + velocity_filter( + object.kinematics.initial_twist_with_covariance.twist, + -std::numeric_limits::epsilon(), params.object_exclusion.stopped_obj_vel_th)) { + footprints.push_back( + create_footprint(object.kinematics.initial_pose_with_covariance.pose, base_footprint)); } } return footprints; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp index eba505f1f9cd8..1951bdbfe73d7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -398,7 +398,7 @@ std::vector convertToGeometryPoints( return points; } -// NOTE: See the PR's figure. https://github.com/autowarefoundation/autoware.universe/pull/2880 +// NOTE: See the PR's figure. https://github.com/autowarefoundation/autoware_universe/pull/2880 std::vector concatenateTwoPolygons( const std::vector & front_polygon, const std::vector & back_polygon) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index 217cd53f21dbe..1be955bedcec6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -877,13 +877,15 @@ double calculateRoughDistanceToObjects( return min_distance; } -tier4_planning_msgs::msg::SafetyFactorArray to_safety_factor_array( +autoware_internal_planning_msgs::msg::SafetyFactorArray to_safety_factor_array( const CollisionCheckDebugMap & debug_map) { - tier4_planning_msgs::msg::SafetyFactorArray safety_factors; + autoware_internal_planning_msgs::msg::SafetyFactorArray safety_factors; + safety_factors.is_safe = std::all_of( + debug_map.begin(), debug_map.end(), [](const auto & result) { return result.second.is_safe; }); for (const auto & [uuid, data] : debug_map) { - tier4_planning_msgs::msg::SafetyFactor safety_factor; - safety_factor.type = tier4_planning_msgs::msg::SafetyFactor::OBJECT; + autoware_internal_planning_msgs::msg::SafetyFactor safety_factor; + safety_factor.type = autoware_internal_planning_msgs::msg::SafetyFactor::OBJECT; safety_factor.is_safe = data.is_safe; safety_factor.object_id = autoware_utils::to_uuid_msg(uuid); safety_factor.points.push_back(data.current_obj_pose.position); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp index b8e3cca852a0a..3828c70218b61 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp @@ -215,7 +215,7 @@ TEST(DrivableAreaExpansionProjection, expand_drivable_area) } { // parameters params.enabled = true; - params.avoid_dynamic_objects = false; + params.object_exclusion.exclude_dynamic = false; params.avoid_linestring_dist = 0.0; params.avoid_linestring_types = {}; params.max_expansion_distance = 0.0; // means no limit diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_footprints.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_footprints.cpp index c98be1b663e99..53ae86fb3f6aa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_footprints.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_footprints.cpp @@ -104,18 +104,19 @@ TEST(FootprintTest, create_object_footprints) objects.objects.push_back(object); autoware::behavior_path_planner::drivable_area_expansion::DrivableAreaExpansionParameters params; - params.avoid_dynamic_objects = false; - params.dynamic_objects_extra_front_offset = 0.5; - params.dynamic_objects_extra_rear_offset = 0.5; - params.dynamic_objects_extra_left_offset = 0.5; - params.dynamic_objects_extra_right_offset = 0.5; + params.object_exclusion.exclude_static = false; + params.object_exclusion.exclude_dynamic = false; + params.object_exclusion.front_offset = 0.5; + params.object_exclusion.rear_offset = 0.5; + params.object_exclusion.left_offset = 0.5; + params.object_exclusion.right_offset = 0.5; // Condition: doesn't avoid dynamic objects auto footprints = create_object_footprints(objects, params); EXPECT_TRUE(footprints.empty()); // Condition: single object and single point path - params.avoid_dynamic_objects = true; + params.object_exclusion.exclude_dynamic = true; footprints = create_object_footprints(objects, params); ASSERT_EQ(footprints.size(), 1); diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst index 3018864419422..f88b49e80eef1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_behavior_path_sampling_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,7 +26,7 @@ Changelog for package autoware_behavior_path_sampling_planner_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota @@ -29,26 +35,26 @@ Changelog for package autoware_behavior_path_sampling_planner_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_behavior_path_sampling_planner_module): fix clang-diagnostic-unused-variable (`#9404 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_behavior_path_sampling_planner_module): fix clang-diagnostic-unused-variable (`#9404 `_) fix: clang-diagnostic-unused-variable -* fix(autoware_behavior_path_sampling_planner_module): fix invalid parameter file (`#9231 `_) +* fix(autoware_behavior_path_sampling_planner_module): fix invalid parameter file (`#9231 `_) Co-authored-by: Yutaka Kondo -* refactor(bpp): rework steering factor interface (`#9325 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -59,52 +65,52 @@ Changelog for package autoware_behavior_path_sampling_planner_module * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) +* fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, kobayu858 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) +* fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_sampling_planner_module): fix shadowVariable (`#7966 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_sampling_planner_module): fix shadowVariable (`#7966 `_) * fix:shadowVariable * refactor:clang format * fix:shadowVariable * refactor:CodeSence --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/README.md index 601c5b4b26d01..a4d7f5bf7b920 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/README.md @@ -4,7 +4,7 @@ WARNING: This module is experimental and has not been properly tested on a real ## Purpose -This package implements a node that uses sampling based planning to generate a drivable trajectory for the behavior path planner. It is heavily based off the [sampling_based_planner module](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/sampling_based_planner). +This package implements a node that uses sampling based planning to generate a drivable trajectory for the behavior path planner. It is heavily based off the [sampling_based_planner module](https://github.com/autowarefoundation/autoware_universe/tree/main/planning/sampling_based_planner). ## Features @@ -67,7 +67,7 @@ Some possible improvements for this module include: -Implementing multi-objective optimization to improve computing time and possibly make a more dynamic soft constraints weight tuning. [Related publication](https://ieeexplore.ieee.org/abstract/document/10180226). --Implement bezier curves as another method to obtain samples, see the [sampling_based_planner module](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/sampling_based_planner). +-Implement bezier curves as another method to obtain samples, see the [sampling_based_planner module](https://github.com/autowarefoundation/autoware_universe/tree/main/planning/sampling_based_planner). -Explore the possibility to replace several or other behavior path modules with the sampling based behavior path module. diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml index 41d35361f87e0..6e573a2f0c16f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_sampling_planner_module - 0.42.0 + 0.43.0 The autoware_behavior_path_sampling_planner_module package Daniel Sanchez diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst index b34a6eb4afdf1..8416e061e1159 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_behavior_path_side_shift_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +53,7 @@ Changelog for package autoware_behavior_path_side_shift_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,13 +62,13 @@ Changelog for package autoware_behavior_path_side_shift_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* refactor(behavior_path_planner): common test functions (`#9963 `_) +* refactor(behavior_path_planner): common test functions (`#9963 `_) * feat: common test code in behavior_path_planner * deal with other modules * fix typo * update --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota @@ -71,25 +77,25 @@ Changelog for package autoware_behavior_path_side_shift_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* test(autoware_behavior_path_side_shift_module): add unit tests for util function (`#9540 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* test(autoware_behavior_path_side_shift_module): add unit tests for util function (`#9540 `_) test(side_shift_module): add unit tests -* refactor(autoware_behavior_path_side_shift_module): refactor shift length retrieval and improve path orientation handling (`#9539 `_) +* refactor(autoware_behavior_path_side_shift_module): refactor shift length retrieval and improve path orientation handling (`#9539 `_) refactor(side_shift_module): refactor shift length retrieval and improve path orientation handling * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(bpp): rework steering factor interface (`#9325 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -100,8 +106,8 @@ Changelog for package autoware_behavior_path_side_shift_module * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -111,9 +117,9 @@ Changelog for package autoware_behavior_path_side_shift_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -124,23 +130,23 @@ Changelog for package autoware_behavior_path_side_shift_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* 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 --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_side_shift_module): fix unusedFunction (`#8655 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_side_shift_module): fix unusedFunction (`#8655 `_) fix:unusedFunction -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml index 76d0dec1597cf..4478649adccf5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_side_shift_module - 0.42.0 + 0.43.0 The autoware_behavior_path_side_shift_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst index 56e556dfd3831..988f7d30ae740 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst @@ -2,19 +2,26 @@ Changelog for package autoware_behavior_path_start_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* Contributors: Hayato Mizushima, NorahXiong, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(start_planner): output object_of_interest (`#10053 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (`#10167 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(start_planner): output object_of_interest (`#10053 `_) feat(start_planner_module): integrate safety factor array from collision check * Contributors: Fumiya Watanabe, Kyoichi Sugahara, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -23,33 +30,33 @@ Changelog for package autoware_behavior_path_start_planner_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(start_planner): visualize planner evaluation table in rviz (`#10029 `_) +* feat(start_planner): visualize planner evaluation table in rviz (`#10029 `_) visualize planner evaluation table in rviz -* fix(start_planner, goal_planner): refactor lane departure checker initialization (`#9944 `_) -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* fix(start_planner, goal_planner): refactor lane departure checker initialization (`#9944 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* test(start_planner): disable GenerateValidFreespacePullOutPath test (`#9937 `_) -* test(autoware_behavior_path_start_planner_module): add test helper and implement unit tests for FreespacePullOut (`#9832 `_) +* test(start_planner): disable GenerateValidFreespacePullOutPath test (`#9937 `_) +* test(autoware_behavior_path_start_planner_module): add test helper and implement unit tests for FreespacePullOut (`#9832 `_) * refactor(autoware_behavior_path_start_planner_module): remove unnecessary time_keeper parameter from pull-out planners * refactor(autoware_behavior_path_start_planner_module): remove TimeKeeper parameter from pull-out planners * refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling * refactor(planner): add planner_data parameter to plan methods in pull out planners * refactor(autoware_behavior_path_start_planner_module): remove LaneDepartureChecker dependency from pull-out planners --------- -* refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling (`#9791 `_) +* refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling (`#9791 `_) * refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling --------- -* refactor(autoware_behavior_path_start_planner_module): remove unnecessary time_keeper parameter from pull-out planners (`#9827 `_) +* refactor(autoware_behavior_path_start_planner_module): remove unnecessary time_keeper parameter from pull-out planners (`#9827 `_) * refactor(autoware_behavior_path_start_planner_module): remove unnecessary time_keeper parameter from pull-out planners --------- -* fix(behavior_path_planner): add freespace_planning_algorithms dependency (`#9800 `_) -* test(autoware_behavior_path_start_planner_module): add unit tests for shift shift pull out planner (`#9776 `_) +* fix(behavior_path_planner): add freespace_planning_algorithms dependency (`#9800 `_) +* test(autoware_behavior_path_start_planner_module): add unit tests for shift shift pull out planner (`#9776 `_) feat(behavior_path_planner): add unit tests for ShiftPullOut path planning -* refactor(autoware_behavior_path_start_planner_module): add data_structs.cpp and init method for StartPlannerParameters (`#9736 `_) +* refactor(autoware_behavior_path_start_planner_module): add data_structs.cpp and init method for StartPlannerParameters (`#9736 `_) feat(autoware_behavior_path_start_planner_module): add data_structs.cpp and init method for StartPlannerParameters -* test(autoware_behavior_path_start_planner_module): add unit tests for geometric shift pull out planner (`#9640 `_) +* test(autoware_behavior_path_start_planner_module): add unit tests for geometric shift pull out planner (`#9640 `_) * feat(behavior_path_planner): add unit tests for geometric pull-out planner and improve collision check * feat(behavior_path_planner): add boolean parameter for divide_pull_out_path and update tests --------- @@ -58,9 +65,9 @@ Changelog for package autoware_behavior_path_start_planner_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) * feat(behavior_path_planner): add detail text to virutal wall * goal is far * pull over start pose is far @@ -68,16 +75,16 @@ Changelog for package autoware_behavior_path_start_planner_module * fix build * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp --------- -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. * style(pre-commit): autofix * Updated the freespace planner instantiation call in the path planning modules @@ -87,16 +94,16 @@ Changelog for package autoware_behavior_path_start_planner_module --------- Co-authored-by: Steven Brills Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(start_planner): use extended current lanes to fix turn signal issue (`#9487 `_) +* fix(start_planner): use extended current lanes to fix turn signal issue (`#9487 `_) fix current lanes issue * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_behavior_path_start_planner_module): fix clang-diagnostic-unused-variable (`#9405 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_behavior_path_start_planner_module): fix clang-diagnostic-unused-variable (`#9405 `_) fix: clang-diagnostic-unused-variable -* feat(start_planner): output velocity factor (`#9347 `_) -* refactor(bpp): rework steering factor interface (`#9325 `_) +* feat(start_planner): output velocity factor (`#9347 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -107,69 +114,69 @@ Changelog for package autoware_behavior_path_start_planner_module * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) +* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) speed up by updating polygons -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) +* fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, danielsanchezaran, kobayu858, stevenbrills 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) speed up by updating polygons -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) +* fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, danielsanchezaran 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(start_planner): update param to match launch (`#9158 `_) +* feat(start_planner): update param to match launch (`#9158 `_) update param to match launch -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* 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 --------- -* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) fix filter object by velocity -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) +* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) * align autoware_raw_vehicle_cmd_converter's parameter * align start_planner's parameter --------- -* feat(start_planner): add skip_rear_vehicle_check parameter (`#8863 `_) +* feat(start_planner): add skip_rear_vehicle_check parameter (`#8863 `_) Add the skip_rear_vehicle_check parameter to the start planner module configuration. This parameter allows disabling the rear vehicle check during collision detection. By default, the rear vehicle check is enabled. -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8709 `_) +* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8709 `_) * fix:checkCollisionBetweenPathFootprintsAndObjects * fix:add const * fix:unusedFunction --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) * remove redundant fused lanelet calculation * remove unnecessary change * add new function @@ -179,13 +186,13 @@ Changelog for package autoware_behavior_path_start_planner_module * add comment for better understanding * fix cppcheck --------- -* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8659 `_) +* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8659 `_) fix:unusedFunction -* refactor(start_planner): remove redundant calculation in shift pull out (`#8623 `_) +* refactor(start_planner): remove redundant calculation in shift pull out (`#8623 `_) * fix redundant calculation * fix unneccesary modification for comment --------- -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -251,14 +258,14 @@ Changelog for package autoware_behavior_path_start_planner_module * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(start_planner): add time_keeper (`#8254 `_) +* feat(start_planner): add time_keeper (`#8254 `_) * feat(start_planner): add time_keeper * fix * fix * fix shadow variables --------- -* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -291,7 +298,7 @@ Changelog for package autoware_behavior_path_start_planner_module * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* fix(autoware_behavior_path_start_planner_module): fix shadowVariable (`#7982 `_) +* fix(autoware_behavior_path_start_planner_module): fix shadowVariable (`#7982 `_) * fix:shadowVariable * fix:shadowVariable * refactor:clang format @@ -305,7 +312,7 @@ Changelog for package autoware_behavior_path_start_planner_module * refactor: namespace * refactor:clang format --------- -* feat(start_planner): add end_pose_curvature_threshold (`#7901 `_) +* feat(start_planner): add end_pose_curvature_threshold (`#7901 `_) * feat(start_planner): add end_pose_curvature_threshold * Update planning/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md Co-authored-by: Kyoichi Sugahara @@ -313,8 +320,8 @@ Changelog for package autoware_behavior_path_start_planner_module * update readme --------- Co-authored-by: Kyoichi Sugahara -* feat(start_planner): check current_pose and estimated_stop_pose for isPreventingRearVehicleFromPassingThrough (`#8112 `_) -* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) +* feat(start_planner): check current_pose and estimated_stop_pose for isPreventingRearVehicleFromPassingThrough (`#8112 `_) +* 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 @@ -322,12 +329,12 @@ Changelog for package autoware_behavior_path_start_planner_module Co-authored-by: Kyoichi Sugahara --------- Co-authored-by: Kyoichi Sugahara -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -335,15 +342,15 @@ Changelog for package autoware_behavior_path_start_planner_module * fix LC README * use normalized yaw diff --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_path_start_planner_module): fix duplicateBreak warning (`#7583 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_start_planner_module): fix duplicateBreak warning (`#7583 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -360,14 +367,14 @@ Changelog for package autoware_behavior_path_start_planner_module fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml index 0cc141873076f..234e03ff23e18 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_start_planner_module - 0.42.0 + 0.43.0 The autoware_behavior_path_start_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/src/start_planner_test_helper.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/src/start_planner_test_helper.cpp index 0f0720edc4a15..81a03a8bb8fd2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/src/start_planner_test_helper.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/src/start_planner_test_helper.cpp @@ -14,7 +14,7 @@ // pull_out_test_utils.cpp #include "start_planner_test_helper.hpp" -#include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_freespace_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_freespace_pull_out.cpp index 5078c463d7c36..c211af1aa925f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_freespace_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_freespace_pull_out.cpp @@ -18,9 +18,9 @@ #include #include #include +#include #include #include -#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_geometric_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_geometric_pull_out.cpp index 4548c058b871d..655be87998244 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_geometric_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_geometric_pull_out.cpp @@ -18,9 +18,9 @@ #include #include #include +#include #include #include -#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_shift_pull_out.cpp index d2c7c60e1a4ca..46966d595a05d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_shift_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_shift_pull_out.cpp @@ -18,9 +18,9 @@ #include #include #include +#include #include #include -#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst index 76640f4520f22..3727f874da6e9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst @@ -2,13 +2,23 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* fix(autoware_behavior_path_static_obstacle_avoidance_module): blinker bug in static obstacle avoidance (`#10303 `_) + fix +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(static_obstacle_avoidance): turn signal chattering (`#10202 `_) +* fix(static_obstacle_avoidance): ego doesn't keep stopping in unsafe condition (`#10242 `_) +* Contributors: Hayato Mizushima, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -48,7 +58,7 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -57,32 +67,32 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(static_obstacle_avoidance): output safety factor (`#10000 `_) +* feat(static_obstacle_avoidance): output safety factor (`#10000 `_) * feat(safety_check): convert to SafetyFactor * feat(static_obstacle_avoidance): use safety factor * fix(bpp): output detail --------- -* refactor(behavior_path_planner): common test functions (`#9963 `_) +* refactor(behavior_path_planner): common test functions (`#9963 `_) * feat: common test code in behavior_path_planner * deal with other modules * fix typo * update --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* fix(static_avoidance): add optional check (`#9782 `_) -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix bugprone-branch-clone (`#9701 `_) +* fix(static_avoidance): add optional check (`#9782 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix bugprone-branch-clone (`#9701 `_) fix: bugprone-error * Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Zulfaqar Azmi, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) * feat(behavior_path_planner): add detail text to virutal wall * goal is far * pull over start pose is far @@ -90,33 +100,33 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module * fix build * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp --------- -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(autoware_behavior_path_static_obstacle_avoidance_module): add maintainer (`#9581 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* fix(avoidance): remove stop reason (`#9364 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(autoware_behavior_path_static_obstacle_avoidance_module): add maintainer (`#9581 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(avoidance): remove stop reason (`#9364 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* perf(static_obstacle_avoidance): use lanelet::utils instead of route handle for closest lanelet (`#9367 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* perf(static_obstacle_avoidance): use lanelet::utils instead of route handle for closest lanelet (`#9367 `_) use lanelet::utils for performance improvement -* perf(static_obstacle_avoidance): remove redundant calculation related to lanelet functions (`#9355 `_) +* perf(static_obstacle_avoidance): remove redundant calculation related to lanelet functions (`#9355 `_) * add traffic light distance and modified goal allowance to avoidance data * add closest lanelet related variable to avoidanceData structure * use route handler for checking closest lanelet * use std::optional --------- -* feat(avoidance): output velocity factor (`#9345 `_) -* fix(static_obstacle_avoidance): override setInitState (`#9340 `_) +* feat(avoidance): output velocity factor (`#9345 `_) +* fix(static_obstacle_avoidance): override setInitState (`#9340 `_) override setInitState -* refactor(bpp): rework steering factor interface (`#9325 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) * refactor(bpp): rework steering factor interface * refactor(soa): rework steering factor interface * refactor(AbLC): rework steering factor interface @@ -127,25 +137,25 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module * refactor(sbp): rework steering factor interface * refactor(ss): rework steering factor interface --------- -* refactor(static obstacle avoidance): remove redundant calculation (`#9326 `_) +* refactor(static obstacle avoidance): remove redundant calculation (`#9326 `_) * refactor bases on clang tidy * refactor extend backward length * mover redundant calculation in getRoadShoulderDistance --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* test(bpp_common): add unit test for safety check (`#9223 `_) +* test(bpp_common): add unit test for safety check (`#9223 `_) * add test for object collision * add test for more functions * add docstring * fix lane change --------- -* feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) +* feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) * add operator request feature * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> @@ -156,21 +166,21 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* test(bpp_common): add unit test for safety check (`#9223 `_) +* test(bpp_common): add unit test for safety check (`#9223 `_) * add test for object collision * add test for more functions * add docstring * fix lane change --------- -* feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) +* feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) * add operator request feature * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> @@ -181,71 +191,71 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(static_obstacle_avoidance): suppress unnecessary warning (`#9142 `_) -* test(static_obstacle_avoidance): add unit test for utils functions (`#9134 `_) +* fix(static_obstacle_avoidance): suppress unnecessary warning (`#9142 `_) +* test(static_obstacle_avoidance): add unit test for utils functions (`#9134 `_) * docs(static_obstacle_avoidance): add doxygen * test: add test * fix: assert and expect * fix: wrong comment * refactor: use autoware test utils --------- -* fix(utils): fix envelope polygon update logic (`#9123 `_) -* test(bpp_common): add test for path utils (`#9122 `_) +* fix(utils): fix envelope polygon update logic (`#9123 `_) +* test(bpp_common): add test for path utils (`#9122 `_) * add test file for path utils * fix * add tests for map irrelevant function * add test for getUnshiftedEgoPose * add docstring and remove unneccesary function --------- -* fix(avoidance): don't insert stop line if the ego can't avoid or return (`#9089 `_) +* fix(avoidance): don't insert stop line if the ego can't avoid or return (`#9089 `_) * fix(avoidance): don't insert stop line if the ego can't avoid or return * fix: build error * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Co-authored-by: Go Sakayori --------- Co-authored-by: Go Sakayori -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* 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(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* refactor(static_obstacle_avoidance): move route handler based calculation outside loop (`#8968 `_) +* refactor(static_obstacle_avoidance): move route handler based calculation outside loop (`#8968 `_) * refactor filterTargetObjects * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(static_obstacle_avoidance): remove redundant calculation (`#8955 `_) +* fix(static_obstacle_avoidance): remove redundant calculation (`#8955 `_) remove redundant calculation -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) remove unused variables -* fix(static_obstacle_avoidance): update UUID when candidate shift is empty (`#8901 `_) +* fix(static_obstacle_avoidance): update UUID when candidate shift is empty (`#8901 `_) fix candidate shift line's rtc cooperate status -* docs(static_obstacle_avoidance): update envelope polygon creation (`#8822 `_) +* docs(static_obstacle_avoidance): update envelope polygon creation (`#8822 `_) * update envelope polygon creation * fix whitespace --------- -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(static_obstacle_avoidance): improve turn signal output timing when the ego returns original lane (`#8726 `_) +* fix(static_obstacle_avoidance): improve turn signal output timing when the ego returns original lane (`#8726 `_) fix(static_obstacle_avoidance): fix unexpected turn signal output -* docs(static_obstacle_avoidance): light edits. Typos, grammar fixes (`#8759 `_) +* docs(static_obstacle_avoidance): light edits. Typos, grammar fixes (`#8759 `_) * Light edit: Typos, grammar fixes. Additional changes to follow * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md Paragraph revised to correct typos @@ -261,21 +271,21 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module Co-authored-by: Go Sakayori Co-authored-by: Go Sakayori Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8776 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8776 `_) fix:unusedFunction -* fix(static_obstacle_avoidance): ignore objects which has already been decided to avoid (`#8754 `_) -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8732 `_) +* fix(static_obstacle_avoidance): ignore objects which has already been decided to avoid (`#8754 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8732 `_) fix:unusedFunction -* fix(static_obstacle_avoidance): change implementation the logic to remove invalid small shift lines (`#8721 `_) - * Revert "fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_)" +* fix(static_obstacle_avoidance): change implementation the logic to remove invalid small shift lines (`#8721 `_) + * Revert "fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_)" This reverts commit 2705a63817f02ecfa705960459438763225ea6cf. * fix(static_obstacle_avoidance): remove invalid small shift lines --------- -* fix(static_obstacle_avoidance): use wrong parameter (`#8720 `_) -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8664 `_) +* fix(static_obstacle_avoidance): use wrong parameter (`#8720 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8664 `_) fix:unusedFunction -* feat(static_obstacle_avoidance): update envelope polygon creation method (`#8551 `_) +* feat(static_obstacle_avoidance): update envelope polygon creation method (`#8551 `_) * update envelope polygon by considering pose covariance * change parameter * modify schema json @@ -283,31 +293,31 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(static_obstacle_avoidance): target object sorting (`#8545 `_) +* fix(static_obstacle_avoidance): target object sorting (`#8545 `_) * fix compensateLostTargetObjects function * remove empty case --------- -* docs(static_obstacle_avoidance): add FAQ section in document (`#8514 `_) +* docs(static_obstacle_avoidance): add FAQ section in document (`#8514 `_) * add FAQ section in readme * refer to FAQ before detail * fix --------- -* fix(static_obstacle_avoidance): change avoidance condition (`#8433 `_) -* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) +* fix(static_obstacle_avoidance): change avoidance condition (`#8433 `_) +* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) * perf(safety_check): check within first * perf(static_obstacle_avoidance): remove duplicated process * perf(static_obstacle_avoidance): remove heavy process --------- -* fix(static_obstacle_avoidance): check opposite lane (`#8345 `_) -* fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_) -* feat(static_obstacle_avoidance): force deactivation (`#8288 `_) +* fix(static_obstacle_avoidance): check opposite lane (`#8345 `_) +* fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_) +* feat(static_obstacle_avoidance): force deactivation (`#8288 `_) * add force cancel function * fix format * fix json schema * fix spelling * fix --------- -* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) +* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) * add force execution for static obstacle avoidance * fix * erase unused function in RTC interface @@ -316,48 +326,48 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module * add warn throtthle and move code block * fix --------- -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix constParameterReference (`#8046 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix constParameterReference (`#8046 `_) fix:constParameterReference -* fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path (`#8066 `_) -* feat(static_obstacle_avoidance): integrate time keeper to major functions (`#8044 `_) -* fix(static_obstacle_avoidance): fix issues in target filtiering logic (`#7954 `_) +* fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path (`#8066 `_) +* feat(static_obstacle_avoidance): integrate time keeper to major functions (`#8044 `_) +* fix(static_obstacle_avoidance): fix issues in target filtiering logic (`#7954 `_) * fix: unknown filtering flow * fix: relax target filtering logic for object which is in freespace * docs: update flowchart * fix: check stopped time in freespace --------- -* feat(static_obstacle_avoidance): show markers when system requests operator support (`#7994 `_) -* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) +* feat(static_obstacle_avoidance): show markers when system requests operator support (`#7994 `_) +* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) * fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle * chore(schema): update schema --------- -* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) +* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) fix(static_obstacle_avoidance): fix stop position -* fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge (`#7850 `_) +* fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge (`#7850 `_) * fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge * docs(static_obstacle_avoidance): update flowchart * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md Co-authored-by: Go Sakayori --------- Co-authored-by: Go Sakayori -* refactor(static_avoidance): modify getAdjacentLane function (`#7843 `_) +* refactor(static_avoidance): modify getAdjacentLane function (`#7843 `_) add getLeftOppositeLanelers in getAdjacentLane function -* fix(static_obstacle_avoidance): fix issues in target object filtering logic (`#7830 `_) +* fix(static_obstacle_avoidance): fix issues in target object filtering logic (`#7830 `_) * fix(static_obstacle_avoidance): check if object is inside/outside by its position point instead of its polygon * refactor(static_obstacle_avoidance): add getter functions * fix(static_obstacle_avoidance): check next lane without route if the current lane is not preferred * fix(static_obstacle_avoidance): fix parked vehicle check --------- -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(static_obstacle_avoidance): organize params for drivable lane (`#7715 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(static_obstacle_avoidance): organize params for drivable lane (`#7715 `_) * refactor(static_obstacle_avoidance): organize params for drivable lane * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json --------- -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -365,24 +375,24 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module * fix LC README * use normalized yaw diff --------- -* docs(static_obstacle_avoidance): fix wrong flowchart (`#7693 `_) -* fix(static_obstacle_avoidance): fix json schema (`#7692 `_) -* refactor(static_obstacle_avoidance): change logger name for utils (`#7617 `_) +* docs(static_obstacle_avoidance): fix wrong flowchart (`#7693 `_) +* fix(static_obstacle_avoidance): fix json schema (`#7692 `_) +* refactor(static_obstacle_avoidance): change logger name for utils (`#7617 `_) change logger name for static avoidance utils -* feat(static_obstacle_avoidance): keep object clipping even after the object becomes non-target (`#7591 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix duplicateCondition warnings (`#7582 `_) -* docs(bpp_static_obstacle_avoidance): add documentation (`#7554 `_) +* feat(static_obstacle_avoidance): keep object clipping even after the object becomes non-target (`#7591 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix duplicateCondition warnings (`#7582 `_) +* docs(bpp_static_obstacle_avoidance): add documentation (`#7554 `_) * fix: package path * docs: add explanation of lateral margin * fix: typo * fix: wrong description --------- -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp index 406c5ce924a5b..2586b6767282d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp @@ -29,6 +29,7 @@ #include #include +#include #include #include #include @@ -459,7 +460,7 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface bool safe_{true}; - std::optional ignore_signal_{std::nullopt}; + std::set ignore_signal_ids_; std::shared_ptr helper_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index dc1e011f06876..d306727757256 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_static_obstacle_avoidance_module - 0.42.0 + 0.43.0 The autoware_behavior_path_static_obstacle_avoidance_module package Takamasa Horibe diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json index 791c954a681f9..bdbe6a54bd296 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json @@ -1042,7 +1042,7 @@ "extended_polygon_policy": { "type": "string", "enum": ["rectangle", "along_path"], - "description": "See https://github.com/autowarefoundation/autoware.universe/pull/6336.", + "description": "See https://github.com/autowarefoundation/autoware_universe/pull/6336.", "default": "along_path" }, "expected_front_deceleration": { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 948d0cdd58b4b..e6656b46d51dc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -962,15 +962,13 @@ auto StaticObstacleAvoidanceModule::getTurnSignal( using autoware::motion_utils::calcSignedArcLength; const auto is_ignore_signal = [this](const UUID & uuid) { - if (!ignore_signal_.has_value()) { - return false; - } - - return ignore_signal_.value() == uuid; + return ignore_signal_ids_.find(to_hex_string(uuid)) != ignore_signal_ids_.end(); }; const auto update_ignore_signal = [this](const UUID & uuid, const bool is_ignore) { - ignore_signal_ = is_ignore ? std::make_optional(uuid) : std::nullopt; + if (is_ignore) { + ignore_signal_ids_.insert(to_hex_string(uuid)); + } }; const auto is_large_deviation = [this](const auto & path) { @@ -990,18 +988,6 @@ auto StaticObstacleAvoidanceModule::getTurnSignal( return getPreviousModuleOutput().turn_signal_info; } - const auto itr = - std::remove_if(shift_lines.begin(), shift_lines.end(), [&, this](const auto & s) { - const auto threshold = planner_data_->parameters.turn_signal_shift_length_threshold; - return std::abs(s.start_shift_length - s.end_shift_length) < threshold || - is_ignore_signal(s.id); - }); - shift_lines.erase(itr, shift_lines.end()); - - if (shift_lines.empty()) { - return getPreviousModuleOutput().turn_signal_info; - } - const auto target_shift_line = [&]() { const auto & s1 = shift_lines.front(); @@ -1044,6 +1030,10 @@ auto StaticObstacleAvoidanceModule::getTurnSignal( return s1; }(); + if (is_ignore_signal(target_shift_line.id)) { + return getPreviousModuleOutput().turn_signal_info; + } + const auto original_signal = getPreviousModuleOutput().turn_signal_info; constexpr bool is_driving_forward = true; @@ -1509,6 +1499,7 @@ void StaticObstacleAvoidanceModule::initVariables() resetPathCandidate(); resetPathReference(); arrived_path_end_ = false; + ignore_signal_ids_.clear(); } void StaticObstacleAvoidanceModule::initRTCStatus() @@ -1679,7 +1670,7 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( const auto min_return_distance = helper_->getMinAvoidanceDistance(shift_length) + helper_->getNominalPrepareDistance(0.0); const auto to_stop_line = data.to_return_point - min_return_distance - buffer; - if (to_stop_line < 0.0) { + if (to_stop_line < -1.0 * parameters_->stop_buffer) { RCLCPP_WARN(getLogger(), "ego overran return shift dead line. do nothing."); return; } @@ -1752,7 +1743,7 @@ void StaticObstacleAvoidanceModule::insertWaitPoint( return; } - if (data.to_stop_line < 0.0) { + if (data.to_stop_line < -1.0 * parameters_->stop_buffer) { RCLCPP_WARN(getLogger(), "ego overran avoidance dead line. do nothing."); return; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst index 6d9c793e39ca3..9113e8134470e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst @@ -2,12 +2,32 @@ Changelog for package autoware_behavior_velocity_blind_spot_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +67,7 @@ Changelog for package autoware_behavior_velocity_blind_spot_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,7 +76,7 @@ Changelog for package autoware_behavior_velocity_blind_spot_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -80,12 +100,12 @@ Changelog for package autoware_behavior_velocity_blind_spot_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* test(blind_spot): add unit tests for util functions (`#9597 `_) -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* test(blind_spot): add unit tests for util functions (`#9597 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -95,7 +115,7 @@ Changelog for package autoware_behavior_velocity_blind_spot_module * fix * change directory tests -> test --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -109,28 +129,28 @@ Changelog for package autoware_behavior_velocity_blind_spot_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* refactor(blind_spot): move util functions outside of class (`#9544 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) -* chore(blind_spot): divide headers to include/ (`#9534 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(blind_spot): move util functions outside of class (`#9544 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* chore(blind_spot): divide headers to include/ (`#9534 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_behavior_velocity_blind_spot_module): fix clang-diagnostic-unused-parameter (`#9406 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_behavior_velocity_blind_spot_module): fix clang-diagnostic-unused-parameter (`#9406 `_) fix: clang-diagnostic-unused-parameter -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -140,9 +160,9 @@ Changelog for package autoware_behavior_velocity_blind_spot_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -153,22 +173,22 @@ Changelog for package autoware_behavior_velocity_blind_spot_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(blind_spot): hide debug information (`#8885 `_) -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(blind_spot): hide debug information (`#8885 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_blind_spot_module): fix funcArgNamesDifferent (`#8021 `_) +* fix(autoware_behavior_velocity_blind_spot_module): fix funcArgNamesDifferent (`#8021 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent * refactor:clang format --------- -* feat(blind_spot): consider road_shoulder if exist (`#7925 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat(blind_spot): consider road_shoulder if exist (`#7925 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml index d68d626eba2ff..f4838f81e5b3f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_blind_spot_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_blind_spot_module package Mamoru Sobue @@ -20,6 +20,7 @@ autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_rtc_interface + autoware_internal_planning_msgs autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp index 40be0866abc66..69b65397734ee 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp @@ -102,10 +102,10 @@ void BlindSpotModule::reactRTCApprovalByDecision( const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, - "blind_spot(module is judging as UNSAFE)"); + path->points, planner_data_->current_odometry->pose, stop_pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, "blind_spot(module is judging as UNSAFE)"); } return; } @@ -136,10 +136,10 @@ void BlindSpotModule::reactRTCApprovalByDecision( const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, - "blind_spot(module is judging as SAFE and RTC is not approved)"); + path->points, planner_data_->current_odometry->pose, stop_pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, "blind_spot(module is judging as SAFE and RTC is not approved)"); } return; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst index c37fa10019855..3bd677f5b719b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst @@ -2,13 +2,33 @@ Changelog for package autoware_behavior_velocity_crosswalk_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -48,7 +68,7 @@ Changelog for package autoware_behavior_velocity_crosswalk_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -57,12 +77,12 @@ Changelog for package autoware_behavior_velocity_crosswalk_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* docs(crosswalk): fix file add miss (`#10028 `_) -* docs(crosswalk): update ttc vs ttv docs (`#10025 `_) -* feat(crosswalk): update judgle time against the stopped objects (`#9988 `_) -* chore(crosswalk): port the same direction ignore block (`#9983 `_) -* feat(crosswalk): add pass marker (`#9952 `_) -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* docs(crosswalk): fix file add miss (`#10028 `_) +* docs(crosswalk): update ttc vs ttv docs (`#10025 `_) +* feat(crosswalk): update judgle time against the stopped objects (`#9988 `_) +* chore(crosswalk): port the same direction ignore block (`#9983 `_) +* feat(crosswalk): add pass marker (`#9952 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -86,12 +106,12 @@ Changelog for package autoware_behavior_velocity_crosswalk_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* fix: remove unnecessary parameters (`#9935 `_) -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* fix: remove unnecessary parameters (`#9935 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -101,7 +121,7 @@ Changelog for package autoware_behavior_velocity_crosswalk_module * fix * change directory tests -> test --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -110,105 +130,105 @@ Changelog for package autoware_behavior_velocity_crosswalk_module * fix --------- Co-authored-by: Mamoru Sobue -* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) +* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) * feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs * fix --------- -* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) +* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) * Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Yuki TAKAGI 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(crosswalk)!: delete wide crosswalk corresponding function (`#9329 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(crosswalk)!: delete wide crosswalk corresponding function (`#9329 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) -* test(crosswalk): add unit test (`#9228 `_) +* fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) +* test(crosswalk): add unit test (`#9228 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) -* test(crosswalk): add unit test (`#9228 `_) +* fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) +* test(crosswalk): add unit test (`#9228 `_) * Contributors: Esteve Fernandez, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo 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 `_) -* fix(crosswalk): fix occlusion detection range calculation and add debug markers (`#9121 `_) -* fix(crosswalk): fix passing direction calclation for the objects (`#9071 `_) -* fix(crosswalk): change exceptional handling (`#8956 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(crosswalk): fix occlusion detection range calculation and add debug markers (`#9121 `_) +* fix(crosswalk): fix passing direction calclation for the objects (`#9071 `_) +* fix(crosswalk): change exceptional handling (`#8956 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(crosswalk)!: update stop position caluculation (`#8853 `_) -* feat(crosswalk): suppress restart when the ego is close to the next stop point (`#8817 `_) +* feat(crosswalk)!: update stop position caluculation (`#8853 `_) +* feat(crosswalk): suppress restart when the ego is close to the next stop point (`#8817 `_) * feat(crosswalk): suppress restart when the ego is close to the next stop point * update * add comment --------- -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(autoware_behavior_velocity_crosswalk_module): fix unusedFunction (`#8665 `_) +* fix(autoware_behavior_velocity_crosswalk_module): fix unusedFunction (`#8665 `_) fix:unusedFunction -* fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic (`#8459 `_) +* fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic (`#8459 `_) * fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic * define ego_crosswalk_passage_direction later --------- -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_crosswalk_module): fix passedByValue (`#8210 `_) +* fix(autoware_behavior_velocity_crosswalk_module): fix passedByValue (`#8210 `_) * fix:passedByValue * fix:passedByValue --------- -* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) +* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) * refactor(crosswalk): clean up the structure and create a brief flowchart * update * fix * static stop pose -> default stop pose --------- -* fix(autoware_behavior_velocity_crosswalk_module): fix shadowVariable (`#7974 `_) +* fix(autoware_behavior_velocity_crosswalk_module): fix shadowVariable (`#7974 `_) * fix:shadowVariable * fix:shadowVariable --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Mehmet Dogru, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md index 52e8c5b2a24a9..6ceb8d1154a3e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md @@ -349,7 +349,7 @@ The label of each plot is `-`. ### Behavior - Q. The ego stopped around the crosswalk even though there were no crosswalk user objects. - - A. See [Stuck Vehicle Detection](https://autowarefoundation.github.io/autoware.universe/pr-5583/planning/autoware_behavior_velocity_crosswalk_module/#stuck-vehicle-detection). + - A. See [Stuck Vehicle Detection](https://autowarefoundation.github.io/autoware_universe/pr-5583/planning/autoware_behavior_velocity_crosswalk_module/#stuck-vehicle-detection). - Q. The crosswalk virtual wall suddenly appeared resulting in the sudden stop. - A. There may be a crosswalk user started moving when the ego was close to the crosswalk. - Q. The crosswalk module decides to stop even when the pedestrian traffic light is red. @@ -360,9 +360,9 @@ The label of each plot is `-`. ### Parameter Tuning - Q. The ego's yield behavior is too conservative. - - A. Tune `ego_pass_later_margin` described in [Yield Decision](https://autowarefoundation.github.io/autoware.universe/pr-5583/planning/autoware_behavior_velocity_crosswalk_module/#stuck-vehicle-detection) + - A. Tune `ego_pass_later_margin` described in [Yield Decision](https://autowarefoundation.github.io/autoware_universe/pr-5583/planning/autoware_behavior_velocity_crosswalk_module/#stuck-vehicle-detection) - Q. The ego's yield behavior is too aggressive. - - A. Tune `ego_pass_later_margin` described in [Yield Decision](https://autowarefoundation.github.io/autoware.universe/pr-5583/planning/autoware_behavior_velocity_crosswalk_module/#stuck-vehicle-detection) + - A. Tune `ego_pass_later_margin` described in [Yield Decision](https://autowarefoundation.github.io/autoware_universe/pr-5583/planning/autoware_behavior_velocity_crosswalk_module/#stuck-vehicle-detection) ## References/External links diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml index 5c90ac1ea2280..93b81afe65c4c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_crosswalk_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_crosswalk_module package Satoshi Ota @@ -26,6 +26,7 @@ autoware_behavior_velocity_rtc_interface autoware_grid_map_utils autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_interpolation autoware_lanelet2_extension autoware_motion_utils diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index c2d56e86b16b1..7ae6e16bb21e1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -881,9 +881,9 @@ void CrosswalkModule::applySlowDown( } if (slowdown_pose) planning_factor_interface_->add( - output.points, planner_data_->current_odometry->pose, *slowdown_pose, *slowdown_pose, - tier4_planning_msgs::msg::PlanningFactor::SLOW_DOWN, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, + output.points, planner_data_->current_odometry->pose, *slowdown_pose, + autoware_internal_planning_msgs::msg::PlanningFactor::SLOW_DOWN, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, safety_slow_down_speed, 0.0 /*shift distance*/, "crosswalk_safety_slowdown_for_approaching"); } @@ -1365,9 +1365,9 @@ void CrosswalkModule::planStop( insertDecelPointWithDebugInfo(stop_factor->stop_pose.position, 0.0, ego_path); planning_factor_interface_->add( ego_path.points, planner_data_->current_odometry->pose, stop_factor->stop_pose, - stop_factor->stop_pose, tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0 /*velocity*/, - 0.0 /*shift distance*/, "crosswalk_stop"); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, + 0.0 /*velocity*/, 0.0 /*shift distance*/, "crosswalk_stop"); } bool CrosswalkModule::checkRestartSuppression( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst index 33df05c1dc624..950c4239a1b23 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst @@ -2,12 +2,32 @@ Changelog for package autoware_behavior_velocity_detection_area_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +67,7 @@ Changelog for package autoware_behavior_velocity_detection_area_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,7 +76,7 @@ Changelog for package autoware_behavior_velocity_detection_area_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -80,15 +100,15 @@ Changelog for package autoware_behavior_velocity_detection_area_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) * feat(behavior_velocity_planner)!: remove velocity_factor completely * minimize diff --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -98,12 +118,12 @@ Changelog for package autoware_behavior_velocity_detection_area_module * fix * change directory tests -> test --------- -* feat(behavior_velocity_detection_area): use base class without RTC (`#9802 `_) +* feat(behavior_velocity_detection_area): use base class without RTC (`#9802 `_) * feat(behavior_velocity_detection_area): use base class without RTC * fix * fix --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -117,23 +137,23 @@ Changelog for package autoware_behavior_velocity_detection_area_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) * feat(behavior_velocity_planner): replace first_stop_path_point_index * add const * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -142,49 +162,49 @@ Changelog for package autoware_behavior_velocity_detection_area_module Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* feat(detection_area)!: add retruction feature (`#9255 `_) +* feat(detection_area)!: add retruction feature (`#9255 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* feat(detection_area)!: add retruction feature (`#9255 `_) +* feat(detection_area)!: add retruction feature (`#9255 `_) * Contributors: Esteve Fernandez, Yuki TAKAGI, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(detection_area): refactor and add unit tests (`#9087 `_) -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* test(detection_area): refactor and add unit tests (`#9087 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_detection_area_module): fix uninitMemberVar (`#8332 `_) +* fix(autoware_behavior_velocity_detection_area_module): fix uninitMemberVar (`#8332 `_) fix:uninitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml index db19359179674..14b549c304866 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_detection_area_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_detection_area_module package Kyoichi Sugahara diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp index b46b3ca4e36bc..35568fd789e64 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp @@ -181,9 +181,10 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path) // Create StopReason { planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + path->points, planner_data_->current_odometry->pose, stop_pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); } return true; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst index a82d73e994baf..29f95acf0e386 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst @@ -2,16 +2,40 @@ Changelog for package autoware_behavior_velocity_intersection_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* feat: apply splitting of autoware_utils_geometry (`#10270 `_) + * fix build error + * merge namespace + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Satoshi OTA, Takagi, Isamu, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) -* feat: remove dependency on autoware_universe_utils from autoware_interpolation and autoware_motion_utils (`#10092 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) +* feat: remove dependency on autoware_universe_utils from autoware_interpolation and autoware_motion_utils (`#10092 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -51,7 +75,7 @@ Changelog for package autoware_behavior_velocity_intersection_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -60,8 +84,8 @@ Changelog for package autoware_behavior_velocity_intersection_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(intersection): add wall marker for too late detect objects (`#10006 `_) -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* feat(intersection): add wall marker for too late detect objects (`#10006 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -85,15 +109,15 @@ Changelog for package autoware_behavior_velocity_intersection_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) * feat(behavior_velocity_planner)!: remove velocity_factor completely * minimize diff --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -103,9 +127,9 @@ Changelog for package autoware_behavior_velocity_intersection_module * fix * change directory tests -> test --------- -* fix(autoware_behavior_velocity_intersection_module): fix bugprone-branch-clone (`#9702 `_) +* fix(autoware_behavior_velocity_intersection_module): fix bugprone-branch-clone (`#9702 `_) fix: bugprone-error -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -114,46 +138,46 @@ Changelog for package autoware_behavior_velocity_intersection_module * fix --------- Co-authored-by: Mamoru Sobue -* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) +* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) * feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs * fix --------- -* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) +* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) * Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) -* refactor: correct spelling (`#9528 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor: correct spelling (`#9528 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-parameter (`#9409 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-parameter (`#9409 `_) fix: clang-diagnostic-unused-parameter -* fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-lambda-capture (`#9407 `_) +* fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-lambda-capture (`#9407 `_) fix: clang-diagnostic-unused-parameter -* chore(autoware_behavior_velocity_intersection_module): include opencv as system (`#9330 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(autoware_behavior_velocity_intersection_module): include opencv as system (`#9330 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(bvp): remove expired module safely (`#9212 `_) +* fix(bvp): remove expired module safely (`#9212 `_) * fix(bvp): remove expired module safely * fix: remove module id set * fix: use itr to erase expired module @@ -164,15 +188,15 @@ Changelog for package autoware_behavior_velocity_intersection_module 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(bvp): remove expired module safely (`#9212 `_) +* fix(bvp): remove expired module safely (`#9212 `_) * fix(bvp): remove expired module safely * fix: remove module id set * fix: use itr to erase expired module @@ -183,66 +207,66 @@ Changelog for package autoware_behavior_velocity_intersection_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(intersection): print RTC status in diagnostic debug message (`#9007 `_) +* chore(intersection): print RTC status in diagnostic debug message (`#9007 `_) debug(intersection): print RTC status in diagnostic message -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(intersection): handle pass judge after red/arrow-signal to ignore NPCs after the signal changed to green again (`#9119 `_) -* fix(intersection): set RTC enable (`#9040 `_) +* fix(intersection): handle pass judge after red/arrow-signal to ignore NPCs after the signal changed to green again (`#9119 `_) +* fix(intersection): set RTC enable (`#9040 `_) set rtc enable -* fix(interpolation): fix bug of interpolation (`#8969 `_) +* fix(interpolation): fix bug of interpolation (`#8969 `_) fix bug of interpolation -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(intersection): fix typo (`#8911 `_) +* fix(intersection): fix typo (`#8911 `_) * fix(intersection): fix typo * fix(intersection): fix typo * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(bvp): fix rtc state update logic (`#8884 `_) +* fix(bvp): fix rtc state update logic (`#8884 `_) * fix(bvp): fix rtc state update logic * fix(intersection): fix unexpected rtc state initialization --------- -* fix(autoware_behavior_velocity_intersection_module): fix unusedFunction (`#8666 `_) +* fix(autoware_behavior_velocity_intersection_module): fix unusedFunction (`#8666 `_) * fix:unusedFunction * fix:unusedFunction --------- -* fix(autoware_behavior_velocity_intersection_module): fix unreadVariable (`#8836 `_) +* fix(autoware_behavior_velocity_intersection_module): fix unreadVariable (`#8836 `_) fix:unreadVariable -* fix(autoware_behavior_velocity_intersection_module): fix virtualCallInConstructor (`#8835 `_) +* fix(autoware_behavior_velocity_intersection_module): fix virtualCallInConstructor (`#8835 `_) fix:virtualCallInConstructor -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(intersection): additional fix for 8520 (`#8561 `_) -* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) +* fix(intersection): additional fix for 8520 (`#8561 `_) +* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) * for enclave occlusion detection lanelet * some refactorings and modify doxygen * fix ci --------- Co-authored-by: Y.Hisaki -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* feat(intersection): add test map for intersection (`#8455 `_) -* fix(autoware_smart_mpc_trajectory_follower): fix unusedStructMember (`#8393 `_) +* feat(intersection): add test map for intersection (`#8455 `_) +* fix(autoware_smart_mpc_trajectory_follower): fix unusedStructMember (`#8393 `_) * fix:unusedStructMember * fix:unusedStructMember * fix:clang format --------- -* fix(autoware_behavior_velocity_intersection_module): fix functionConst (`#8283 `_) +* fix(autoware_behavior_velocity_intersection_module): fix functionConst (`#8283 `_) fix:functionConst -* fix(autoware_behavior_velocity_intersection_module): fix funcArgNamesDifferent (`#8023 `_) +* fix(autoware_behavior_velocity_intersection_module): fix funcArgNamesDifferent (`#8023 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent * refactor:clang format * fix:funcArgNamesDifferent --------- -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter @@ -252,21 +276,21 @@ Changelog for package autoware_behavior_velocity_intersection_module --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* fix(autoware_behavior_velocity_intersection_module): fix shadowVariable (`#7976 `_) -* fix(autoware_behavior_velocity_intersection_module): fix shadowFunction (`#7835 `_) +* fix(autoware_behavior_velocity_intersection_module): fix shadowVariable (`#7976 `_) +* fix(autoware_behavior_velocity_intersection_module): fix shadowFunction (`#7835 `_) * fix(autoware_behavior_velocity_intersection_module): fix shadowFunction * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) intersection -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Satoshi OTA, T-Kimura-MM, Takayuki Murooka, Yoshi Ri, Yukinari Hisaki, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md index 825bb4043d993..9a09e5af538ba 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md @@ -508,7 +508,7 @@ If you want to care the occlusion nearby ego more cautiously, set `occlusion.occ #### occupancy grid map tuning -Refer to the document of [autoware_probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_probabilistic_occupancy_grid_map/) for details. If occlusion tends to be detected at apparently free space, increase `occlusion.free_space_max` to ignore them. +Refer to the document of [autoware_probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_probabilistic_occupancy_grid_map/) for details. If occlusion tends to be detected at apparently free space, increase `occlusion.free_space_max` to ignore them. #### in simple_planning_simulator diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml index 23daacd26a8c1..53c1f3c42ac13 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_intersection_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_intersection_module package Mamoru Sobue @@ -23,6 +23,7 @@ autoware_behavior_velocity_planner_common autoware_behavior_velocity_rtc_interface autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_interpolation autoware_lanelet2_extension autoware_motion_utils diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp index 7e3faa8f30ff7..55fd6da842577 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -764,9 +764,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(pure StuckStop)"); } } @@ -779,9 +779,8 @@ void reactRTCApprovalByDecisionResult( planning_factor_interface->add( path->points, path->points.at(closest_idx).point.pose, path->points.at(occlusion_stopline_idx).point.pose, - path->points.at(occlusion_stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(StuckStop with occlusion)"); } } @@ -811,9 +810,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(Yield Stuck)"); } } @@ -841,9 +840,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(CollisionStop)"); } } @@ -855,9 +854,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(CollisionStop with occlusion)"); } } @@ -885,9 +884,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(FirstWaitBeforeOcclusion with collision)"); } } @@ -907,9 +906,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(FirstWaitBeforeOcclusion with occlusion)"); } } @@ -951,9 +950,8 @@ void reactRTCApprovalByDecisionResult( planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(occlusion_peeking_stopline).point.pose, - path->points.at(occlusion_peeking_stopline).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(PeekingToOcclusion)"); } } @@ -965,9 +963,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(PeekingToOcclusion while stopping for collision)"); } } @@ -995,9 +993,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(CollisionStop with occlusion)"); } } @@ -1013,9 +1011,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(CollisionStop with occlusion)"); } } @@ -1043,9 +1041,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(Occlusion without traffic light, collision detected)"); } @@ -1058,9 +1056,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(Occlusion without traffic light)"); } } @@ -1096,9 +1094,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(Safe, but RTC interrupted for collision)"); } } @@ -1110,9 +1108,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(Safe, but RTC interrupted for occlusion)"); } } @@ -1140,9 +1138,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(FullyPrioritized, collision detected)"); } } @@ -1154,9 +1152,9 @@ void reactRTCApprovalByDecisionResult( { planning_factor_interface->add( path->points, path->points.at(decision_result.closest_idx).point.pose, - path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points.at(stopline_idx).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "intersection(FullyPrioritized, RTC for occlusion is interrupting)"); } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp index 700c979009fe7..b39ccb79bff6f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp @@ -39,7 +39,7 @@ #include #include -namespace autoware_utils +namespace autoware_utils_geometry { template <> @@ -52,7 +52,7 @@ inline geometry_msgs::msg::Point get_point(const lanelet::ConstPoint3d & p) return point; } -} // namespace autoware_utils +} // namespace autoware_utils_geometry namespace { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp index f968e75e248bb..311c1e3a2e921 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp @@ -157,9 +157,10 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path) /* get stop point and stop factor */ const auto & stop_pose = path->points.at(stopline_idx).point.pose; planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "merge_from_private"); + path->points, planner_data_->current_odometry->pose, stop_pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, "merge_from_private"); const double signed_arc_dist_to_stop_point = autoware::motion_utils::calcSignedArcLength( path->points, current_pose.position, path->points.at(stopline_idx).point.pose.position); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst index b21692890e49a..e3f7ec012f84f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst @@ -2,17 +2,37 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -21,7 +41,7 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -45,15 +65,15 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) * feat(behavior_velocity_planner)!: remove velocity_factor completely * minimize diff --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -67,23 +87,23 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -93,9 +113,9 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -106,21 +126,21 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_no_drivable_lane_module): fix uninitMemberVar (`#8322 `_) +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix uninitMemberVar (`#8322 `_) * fix:uninitMemberVar * fix:uninitMemberVar --------- -* fix(autoware_behavior_velocity_no_drivable_lane_module): fix bug of uninitialization (`#7928 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning (`#7631 `_) +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix bug of uninitialization (`#7928 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning (`#7631 `_) * fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning * style(pre-commit): autofix --------- 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 `_) -* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml index c7d57ca291d50..c593a5c90b7ff 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_drivable_lane_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_no_drivable_lane_module package Ahmed Ebrahim diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp index 0fdda1f54924c..dcf46ad21a161 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp @@ -167,9 +167,10 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path) { const auto & stop_pose = op_stop_pose.value(); planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + path->points, planner_data_->current_odometry->pose, stop_pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); const auto virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose( path->points, stop_pose.position, debug_data_.base_link2front); @@ -217,9 +218,10 @@ void NoDrivableLaneModule::handle_inside_no_drivable_lane_state(PathWithLaneId * { const auto & stop_pose = autoware_utils::get_pose(path->points.at(0)); planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + path->points, planner_data_->current_odometry->pose, stop_pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); const auto & virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose( path->points, stop_pose.position, debug_data_.base_link2front); @@ -257,9 +259,10 @@ void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path) { const auto & stop_pose = ego_pos_on_path.pose; planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + path->points, planner_data_->current_odometry->pose, stop_pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); const auto virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose( path->points, stop_pose.position, debug_data_.base_link2front); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst index 07d201d7289a0..c6e66ac9c008e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst @@ -2,12 +2,32 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +67,7 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,7 +76,7 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -80,15 +100,15 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) * feat(behavior_velocity_planner)!: remove velocity_factor completely * minimize diff --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -98,7 +118,7 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module * fix * change directory tests -> test --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -112,23 +132,23 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) * feat(behavior_velocity_planner): replace first_stop_path_point_index * add const * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -137,52 +157,52 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) +* fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) +* fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(no_stopping_area): refactor and add tests (`#9009 `_) +* test(no_stopping_area): refactor and add tests (`#9009 `_) Co-authored-by: Kosuke Takeuchi -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_no_stopping_area_module): fix uninitMemberVar (`#8321 `_) +* fix(autoware_behavior_velocity_no_stopping_area_module): fix uninitMemberVar (`#8321 `_) fix:uninitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml index 000880d6ed3bd..73082be06e11f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_stopping_area_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_no_stopping_area_module package Kosuke Takeuchi @@ -20,6 +20,7 @@ autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_rtc_interface + autoware_internal_planning_msgs autoware_interpolation autoware_lanelet2_extension autoware_motion_utils diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp index ee262339148a7..c72472ea14e52 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp @@ -145,9 +145,9 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path) // Create StopReason { planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_point->second, stop_point->second, - tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + path->points, planner_data_->current_odometry->pose, stop_point->second, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst index 6bf11c10aa67a..a481abcde8990 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,7 +26,7 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -44,19 +50,19 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) * feat(behavior_velocity_planner)!: remove velocity_factor completely * minimize diff --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* fix(autoware_behavior_velocity_occlusion_spot_module): fix bugprone-macro-parentheses (`#9712 `_) +* fix(autoware_behavior_velocity_occlusion_spot_module): fix bugprone-macro-parentheses (`#9712 `_) * fix: bugprone-error * fix: fmt --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -70,23 +76,23 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -96,9 +102,9 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -109,30 +115,30 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module 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(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8320 `_) +* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8320 `_) * fix:uninitMemberVar * fix:clang format * fix:uninitMemberVar * fix:clang format * fix:clang format --------- -* fix(autoware_behavior_velocity_occlusion_module): fix passedByValue (`#8211 `_) +* fix(autoware_behavior_velocity_occlusion_module): fix passedByValue (`#8211 `_) fix:passedByValue -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_velocity_occlusion_spot_module): fix redundantAssignment bug (`#7559 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_velocity_occlusion_spot_module): fix redundantAssignment bug (`#7559 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml index ee8aeb1cebf26..d9f2f2b992e4d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_occlusion_spot_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_occlusion_spot_module package Taiki Tanaka diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst index 0a859b4969d31..9716c23ca63c8 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst @@ -2,12 +2,26 @@ Changelog for package autoware_behavior_velocity_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* fix(planning, control): reuse stamp of subscribed topic to measure component latency (`#10201 `_) + * fix(behavior_velocity_planner): reuse timestamp of recieved path + * fix(behavior_path_planner): check timestamp first in timer driven callback + * fix(trajectory_follower_node): check timestamp first in timer driven callback + * fix(vehicle_cmd_gate): reuse timestamp of recieved path + --------- +* Contributors: Hayato Mizushima, NorahXiong, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +61,7 @@ Changelog for package autoware_behavior_velocity_planner 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,7 +70,7 @@ Changelog for package autoware_behavior_velocity_planner 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(behavior_velocity_planner): remove virtual traffic light dependency from behavior_velocity_planner and behavior_velocity_planner_common (`#9746 `_) +* feat(behavior_velocity_planner): remove virtual traffic light dependency from behavior_velocity_planner and behavior_velocity_planner_common (`#9746 `_) * feat: remove-virtual-traffic-light-dependency-from-plugin-manager * build passed * fix test @@ -64,7 +78,7 @@ Changelog for package autoware_behavior_velocity_planner * fix * fix typo --------- -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -74,26 +88,26 @@ Changelog for package autoware_behavior_velocity_planner * fix * change directory tests -> test --------- -* refactor(behavior_velocity_planner): independent of plugin packages (`#9760 `_) -* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) +* refactor(behavior_velocity_planner): independent of plugin packages (`#9760 `_) +* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) * Contributors: Fumiya Watanabe, Takayuki Murooka 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) -* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> @@ -103,10 +117,10 @@ Changelog for package autoware_behavior_velocity_planner * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_behavior_velocity_planner): fix clang-diagnostic-format-security (`#9411 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_behavior_velocity_planner): fix clang-diagnostic-format-security (`#9411 `_) fix: clang-diagnostic-format-security -* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) * feat(behavior_velocity_planner): replace first_stop_path_point_index * add const * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -115,15 +129,15 @@ Changelog for package autoware_behavior_velocity_planner Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix(bvp): remove callback group (`#9294 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix(bvp): remove callback group (`#9294 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(bvp): use polling subscriber (`#9242 `_) +* fix(bvp): use polling subscriber (`#9242 `_) * fix(bvp): use polling subscriber * fix: use newest policy --------- @@ -132,15 +146,15 @@ Changelog for package autoware_behavior_velocity_planner 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(bvp): use polling subscriber (`#9242 `_) +* fix(bvp): use polling subscriber (`#9242 `_) * fix(bvp): use polling subscriber * fix: use newest policy --------- @@ -149,23 +163,23 @@ Changelog for package autoware_behavior_velocity_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_behavior_velocity_planner): fix passedByValue (`#8213 `_) +* fix(autoware_behavior_velocity_planner): fix passedByValue (`#8213 `_) fix:passedByValue -* chore(autoware_behavior_velocity_planner): remove no_prefix function from tests (`#7589 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* chore(autoware_behavior_velocity_planner): remove no_prefix function from tests (`#7589 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) +* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) * chore(behavior_velocity_planner): fix CODEOWNERS and page links * fix: fix page link --------- -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp index 02529fd12c20b..25dac976e17e0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp @@ -25,13 +25,13 @@ #include #include +#include #include #include #include #include #include #include -#include #include #include @@ -44,8 +44,8 @@ namespace autoware::behavior_velocity_planner { +using autoware_internal_planning_msgs::msg::VelocityLimit; using autoware_map_msgs::msg::LaneletMapBin; -using tier4_planning_msgs::msg::VelocityLimit; class BehaviorVelocityPlannerNode : public rclcpp::Node { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/test_utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/test_utils.hpp index f34182e77e6f1..2fb08f2ac7da2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/test_utils.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/test_utils.hpp @@ -17,7 +17,7 @@ #include "autoware/behavior_velocity_planner/node.hpp" -#include +#include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml index 931f4fd014b87..0f078e7ba73e8 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner - 0.42.0 + 0.43.0 The autoware_behavior_velocity_planner package Mamoru Sobue @@ -34,6 +34,7 @@ autoware_behavior_velocity_planner_common autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_lanelet2_extension autoware_map_msgs autoware_motion_utils @@ -55,7 +56,6 @@ tf2_eigen tf2_geometry_msgs tf2_ros - tier4_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp index c80c27eeacbd5..709d5813a6e00 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp @@ -344,7 +344,7 @@ autoware_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath( "Backward path is NOT supported. just converting path_with_lane_id to path"); output_path_msg = to_path(*input_path_msg); output_path_msg.header.frame_id = "map"; - output_path_msg.header.stamp = this->now(); + output_path_msg.header.stamp = input_path_msg->header.stamp; output_path_msg.left_bound = input_path_msg->left_bound; output_path_msg.right_bound = input_path_msg->right_bound; return output_path_msg; @@ -366,7 +366,7 @@ autoware_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath( output_path_msg = autoware::behavior_velocity_planner::filterStopPathPoint(interpolated_path_msg); output_path_msg.header.frame_id = "map"; - output_path_msg.header.stamp = this->now(); + output_path_msg.header.stamp = input_path_msg->header.stamp; // TODO(someone): This must be updated in each scene module, but copy from input message for now. output_path_msg.left_bound = input_path_msg->left_bound; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/test_utils.cpp index 45ce88c8e92d4..a4bdf657b6b59 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/test_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/test_utils.cpp @@ -15,7 +15,7 @@ #include "autoware/behavior_velocity_planner/test_utils.hpp" #include -#include +#include #include #include @@ -119,7 +119,7 @@ void publishMandatoryTopics( autoware_perception_msgs::msg::TrafficLightGroupArray{}); test_manager->publishInput( test_target_node, "behavior_velocity_planner_node/input/external_velocity_limit_mps", - tier4_planning_msgs::msg::VelocityLimit{}); + autoware_internal_planning_msgs::msg::VelocityLimit{}); test_manager->publishInput( test_target_node, "behavior_velocity_planner_node/input/occupancy_grid", autoware::test_utils::makeCostMapMsg()); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst index 7ba8eec5c1fda..def8b5fe49365 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst @@ -2,17 +2,24 @@ Changelog for package autoware_behavior_velocity_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* Contributors: Hayato Mizushima, Ryohsuke Mitsudome, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -21,7 +28,7 @@ Changelog for package autoware_behavior_velocity_planner_common 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -45,16 +52,16 @@ Changelog for package autoware_behavior_velocity_planner_common * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) * feat(behavior_velocity_planner)!: remove velocity_factor completely * minimize diff --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* fix(behavior_velocity_planner_common): fix unregister process (`#9913 `_) -* feat(behavior_velocity_planner): remove virtual traffic light dependency from behavior_velocity_planner and behavior_velocity_planner_common (`#9746 `_) +* fix(behavior_velocity_planner_common): fix unregister process (`#9913 `_) +* feat(behavior_velocity_planner): remove virtual traffic light dependency from behavior_velocity_planner and behavior_velocity_planner_common (`#9746 `_) * feat: remove-virtual-traffic-light-dependency-from-plugin-manager * build passed * fix test @@ -62,7 +69,7 @@ Changelog for package autoware_behavior_velocity_planner_common * fix * fix typo --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -71,27 +78,27 @@ Changelog for package autoware_behavior_velocity_planner_common * fix --------- Co-authored-by: Mamoru Sobue -* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) +* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) * feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs * fix --------- -* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) +* feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (`#9692 `_) * Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Yuki TAKAGI 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common (`#9551 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common (`#9551 `_) * test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common * remove nodiscard * update @@ -99,9 +106,9 @@ Changelog for package autoware_behavior_velocity_planner_common * fix * update --------- -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) -* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> @@ -111,10 +118,10 @@ Changelog for package autoware_behavior_velocity_planner_common * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_behavior_velocity_planner_common): fix clang-diagnostic-unused-const-variable (`#9413 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_behavior_velocity_planner_common): fix clang-diagnostic-unused-const-variable (`#9413 `_) fix: clang-diagnostic-unused-const-variable -* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) * feat(behavior_velocity_planner): replace first_stop_path_point_index * add const * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -123,14 +130,14 @@ Changelog for package autoware_behavior_velocity_planner_common Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(bvp): remove expired module safely (`#9212 `_) +* fix(bvp): remove expired module safely (`#9212 `_) * fix(bvp): remove expired module safely * fix: remove module id set * fix: use itr to erase expired module @@ -141,15 +148,15 @@ Changelog for package autoware_behavior_velocity_planner_common 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(bvp): remove expired module safely (`#9212 `_) +* fix(bvp): remove expired module safely (`#9212 `_) * fix(bvp): remove expired module safely * fix: remove module id set * fix: use itr to erase expired module @@ -160,52 +167,52 @@ Changelog for package autoware_behavior_velocity_planner_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner_common): fix findOffsetSegment (`#9130 `_) -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* test(no_stopping_area): refactor and add tests (`#9009 `_) +* fix(behavior_velocity_planner_common): fix findOffsetSegment (`#9130 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* test(no_stopping_area): refactor and add tests (`#9009 `_) Co-authored-by: Kosuke Takeuchi -* fix(autoware_behavior_velocity_planner_common): add node clock, fix use sim time (`#8876 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* fix(autoware_behavior_velocity_planner_common): add node clock, fix use sim time (`#8876 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(bvp): fix rtc state update logic (`#8884 `_) +* fix(bvp): fix rtc state update logic (`#8884 `_) * fix(bvp): fix rtc state update logic * fix(intersection): fix unexpected rtc state initialization --------- -* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) -* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) +* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) +* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) * for enclave occlusion detection lanelet * some refactorings and modify doxygen * fix ci --------- Co-authored-by: Y.Hisaki -* fix(autoware_behavior_velocity_planner_common): fix variableScope (`#8446 `_) +* fix(autoware_behavior_velocity_planner_common): fix variableScope (`#8446 `_) fix:variableScope -* feat(intersection): add test map for intersection (`#8455 `_) -* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) +* feat(intersection): add test map for intersection (`#8455 `_) +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) * not resample debug_trajectories if not published * update dependant packages --------- -* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) +* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) intersection -* fix(autoware_behavior_velocity_planner_common): fix unusedScopedObject bug (`#7570 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_behavior_velocity_planner_common): fix unusedScopedObject bug (`#7570 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) Co-authored-by: Fumiya Watanabe -* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Dawid Moszyński, Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Maxime CLEMENT, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp index f8b37999cb6bf..cfc40bfcb874a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp @@ -20,6 +20,7 @@ #include "autoware/velocity_smoother/smoother/smoother_base.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" +#include #include #include #include @@ -29,7 +30,6 @@ #include #include #include -#include #include #include @@ -62,7 +62,7 @@ struct PlannerData std::map traffic_light_id_map_raw_; std::map traffic_light_id_map_last_observed_; - std::optional external_velocity_limit; + std::optional external_velocity_limit; bool is_simulation = false; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml index d240ce2b3c7c3..66d7cdbdbc59a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner_common - 0.42.0 + 0.43.0 The autoware_behavior_velocity_planner_common package Tomoya Kimura @@ -21,6 +21,7 @@ autoware_adapi_v1_msgs autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_interpolation autoware_lanelet2_extension autoware_map_msgs @@ -45,7 +46,6 @@ tf2_eigen tf2_geometry_msgs tf2_ros - tier4_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/CHANGELOG.rst index 33d9688492b4f..a22827438bf39 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_behavior_velocity_rtc_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,7 +26,7 @@ Changelog for package autoware_behavior_velocity_rtc_interface 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -44,11 +50,11 @@ Changelog for package autoware_behavior_velocity_rtc_interface * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -60,7 +66,7 @@ Changelog for package autoware_behavior_velocity_rtc_interface * Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -84,11 +90,11 @@ Changelog for package autoware_behavior_velocity_rtc_interface * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/package.xml index e39fe5cea8e6a..50a6562cb849d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_rtc_interface - 0.42.0 + 0.43.0 The autoware_behavior_velocity_rtc_interface package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst index 969d41fe26457..1e47a17e01e87 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst @@ -2,14 +2,34 @@ Changelog for package autoware_behavior_velocity_run_out_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* fix(behavior_velocity_run_out_module): fix slow_down jerk filter (`#10065 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* fix(behavior_velocity_run_out_module): fix slow_down jerk filter (`#10065 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -49,7 +69,7 @@ Changelog for package autoware_behavior_velocity_run_out_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -58,7 +78,7 @@ Changelog for package autoware_behavior_velocity_run_out_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -82,11 +102,11 @@ Changelog for package autoware_behavior_velocity_run_out_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -96,7 +116,7 @@ Changelog for package autoware_behavior_velocity_run_out_module * fix * change directory tests -> test --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -105,38 +125,38 @@ Changelog for package autoware_behavior_velocity_run_out_module * fix --------- Co-authored-by: Mamoru Sobue -* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) +* feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (`#9744 `_) * feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs * fix --------- -* fix(autoware_behavior_velocity_run_out_module): fix bugprone-branch-clone (`#9715 `_) +* fix(autoware_behavior_velocity_run_out_module): fix bugprone-branch-clone (`#9715 `_) fix: bugprone-error * Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(behavior_velocity_planner): update velocity factor initialization for run out module (`#9352 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(behavior_velocity_planner): update velocity factor initialization for run out module (`#9352 `_) feat(behavior_velocity_planner): update velocity factor initialization Update the initialization of the velocity factor in the RunOutModule of the behavior_velocity_planner. The velocity factor is now initialized for the RUN_OUT behavior instead of the ROUTE_OBSTACLE behavior. -* fix(autoware_behavior_velocity_run_out_module): fix clang-diagnostic-unused-lambda-capture (`#9416 `_) +* fix(autoware_behavior_velocity_run_out_module): fix clang-diagnostic-unused-lambda-capture (`#9416 `_) fix: clang-diagnostic-unused-lambda-capture -* feat(run_out_module): add tests to run out (`#9222 `_) +* feat(run_out_module): add tests to run out (`#9222 `_) * WIP add tests for utils and path_utils * add tests for utils and fix test path utils * dynamic obstacles @@ -150,12 +170,12 @@ Changelog for package autoware_behavior_velocity_run_out_module * add comments * solve cpp-check limitation issue by removing namespaces --------- -* fix(run_out): output velocity factor (`#9319 `_) +* fix(run_out): output velocity factor (`#9319 `_) * fix(run_out): output velocity factor * fix(adapi): subscribe run out velocity factor --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -165,9 +185,9 @@ Changelog for package autoware_behavior_velocity_run_out_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -178,37 +198,37 @@ Changelog for package autoware_behavior_velocity_run_out_module 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 `_) -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8779 `_) +* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8779 `_) fix:unusedFunction -* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8669 `_) +* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8669 `_) fix:unusedFunction -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(behavior_velocity_planner): fix cppcheck warnings of functionStatic (`#8262 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of functionStatic (`#8262 `_) fix: deal with functionStatic warnings -* fix(autoware_behavior_velocity_run_out_module): fix functionConst (`#8284 `_) +* fix(autoware_behavior_velocity_run_out_module): fix functionConst (`#8284 `_) fix:functionConst -* fix(autoware_behavior_velocity_run_out_module): fix passedByValue (`#8215 `_) +* fix(autoware_behavior_velocity_run_out_module): fix passedByValue (`#8215 `_) * fix:passedByValue * fix:passedByValue * fix:passedByValue --------- -* fix(autoware_behavior_velocity_run_out_module): fix constParameterReference (`#8050 `_) +* fix(autoware_behavior_velocity_run_out_module): fix constParameterReference (`#8050 `_) fix:constParameterReference -* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) +* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) * chore(behavior_velocity_planner): fix CODEOWNERS and page links * fix: fix page link --------- -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/README.md index d45f5b8c848e7..c7722b3b585c0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/README.md +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/README.md @@ -48,7 +48,7 @@ stop ##### Calculate the expected target velocity for ego vehicle Calculate the expected target velocity for the ego vehicle path to calculate time to collision with obstacles more precisely. -The expected target velocity is calculated with [autoware velocity smoother module](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_velocity_smoother) by using current velocity, current acceleration and velocity limits directed by the map and external API. +The expected target velocity is calculated with [autoware velocity smoother module](https://github.com/autowarefoundation/autoware_universe/tree/main/planning/autoware_velocity_smoother) by using current velocity, current acceleration and velocity limits directed by the map and external API. ![brief](./docs/calculate_expected_target_velocity.svg) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml index 6496b02d8c2bc..7f632162a591f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_run_out_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_run_out_module package Tomohito Ando diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp index e9165926f829d..759573e6941d6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp @@ -768,9 +768,10 @@ bool RunOutModule::insertStopPoint( planning_utils::insertVelocity(path, stop_point_with_lane_id, stop_point_velocity, insert_idx); planning_factor_interface_->add( - path.points, planner_data_->current_odometry->pose, stop_point.value(), stop_point.value(), - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_stop"); + path.points, planner_data_->current_odometry->pose, stop_point.value(), + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, + 0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_stop"); return true; } @@ -883,9 +884,9 @@ void RunOutModule::insertApproachingVelocity( planning_factor_interface_->add( output_path.points, planner_data_->current_odometry->pose, stop_point.value(), - stop_point.value(), tier4_planning_msgs::msg::PlanningFactor::STOP, - tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0 /*velocity*/, - 0.0 /*shift_distance*/, "run_out_approaching_velocity"); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, + 0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_approaching_velocity"); // debug debug_ptr_->pushStopPose(autoware_utils::calc_offset_pose( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst index 3d057ca6abcb6..33dc1f4cdee15 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_behavior_velocity_speed_bump_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,7 +26,7 @@ Changelog for package autoware_behavior_velocity_speed_bump_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -44,11 +50,11 @@ Changelog for package autoware_behavior_velocity_speed_bump_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -62,23 +68,23 @@ Changelog for package autoware_behavior_velocity_speed_bump_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -88,9 +94,9 @@ Changelog for package autoware_behavior_velocity_speed_bump_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -101,14 +107,14 @@ Changelog for package autoware_behavior_velocity_speed_bump_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8319 `_) +* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8319 `_) fix:uninitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds warning (`#7671 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds warning (`#7671 `_) fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds -* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml index 58cda2763306a..3a38aeb3ccf3e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_speed_bump_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_speed_bump_module package Tomoya Kimura diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst index f72c4017e6af1..fedf3bffa1784 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst @@ -2,19 +2,40 @@ Changelog for package autoware_behavior_velocity_stop_line_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* fix(stopline, traffic_light): fix planning factor distance value (`#10245 `_) +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Mamoru Sobue, Satoshi OTA, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(autoware_trajectory): update autoware_trajectory interfaces (`#10034 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_trajectory): update autoware_trajectory interfaces (`#10034 `_) * feat(autoware_trajectory): update autoware_trajectory interfaces * add const * Update shift.hpp * fix names * fix copyright --------- -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -54,7 +75,7 @@ Changelog for package autoware_behavior_velocity_stop_line_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -63,7 +84,7 @@ Changelog for package autoware_behavior_velocity_stop_line_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -87,22 +108,22 @@ Changelog for package autoware_behavior_velocity_stop_line_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) * feat(behavior_velocity_planner)!: remove velocity_factor completely * minimize diff --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* fix: remove unnecessary parameters (`#9935 `_) -* fix(planning): corrects typo in svg (`#9814 `_) -* fix(planning): corrects typos (`#9840 `_) +* fix: remove unnecessary parameters (`#9935 `_) +* fix(planning): corrects typo in svg (`#9814 `_) +* fix(planning): corrects typos (`#9840 `_) * fix(planning): corrects typos * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -112,7 +133,7 @@ Changelog for package autoware_behavior_velocity_stop_line_module * fix * change directory tests -> test --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -126,20 +147,20 @@ Changelog for package autoware_behavior_velocity_stop_line_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(autoware_behavior_velocity_stop_line_module): remove unused function (`#9591 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_behavior_velocity_stop_line_module): remove unused function (`#9591 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) -* refactor(autoware_behavior_velocity_stop_line_module): refactor and test (`#9424 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_stop_line_module): refactor and test (`#9424 `_) * refactor(autoware_behavior_velocity_stop_line_module): refactor and test * modify * small changes @@ -149,13 +170,13 @@ Changelog for package autoware_behavior_velocity_stop_line_module --------- * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(autoware_behavior_velocity_stop_line_module): add maintainer (`#9427 `_) -* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(autoware_behavior_velocity_stop_line_module): add maintainer (`#9427 `_) +* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 `_) * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory * update --------- -* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) * feat(behavior_velocity_planner): replace first_stop_path_point_index * add const * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -164,8 +185,8 @@ Changelog for package autoware_behavior_velocity_stop_line_module Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -175,9 +196,9 @@ Changelog for package autoware_behavior_velocity_stop_line_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -188,22 +209,22 @@ Changelog for package autoware_behavior_velocity_stop_line_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_stop_line_module): fix uninitMemberVar (`#8318 `_) +* fix(autoware_behavior_velocity_stop_line_module): fix uninitMemberVar (`#8318 `_) fix:uninitMemberVar -* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml index af9a645f2fd99..53715093565c6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_stop_line_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_stop_line_module package Yukinari Hisaki diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index 87b75b7126fa7..6062b01375f5a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -66,10 +66,11 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path) // TODO(soblin): PlanningFactorInterface use trajectory class planning_factor_interface_->add( - path->points, trajectory->compute(*stop_point).point.pose, - planner_data_->current_odometry->pose, planner_data_->current_odometry->pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "stopline"); + path->points, planner_data_->current_odometry->pose, + trajectory->compute(*stop_point).point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, "stopline"); updateStateAndStoppedTime( &state_, &stopped_time_, clock_->now(), *stop_point - ego_s, planner_data_->isVehicleStopped()); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst index 7f9c2c0098dd9..2873cef9b151c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_behavior_velocity_template_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,7 +26,7 @@ Changelog for package autoware_behavior_velocity_template_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -44,11 +50,11 @@ Changelog for package autoware_behavior_velocity_template_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -62,22 +68,22 @@ Changelog for package autoware_behavior_velocity_template_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -87,9 +93,9 @@ Changelog for package autoware_behavior_velocity_template_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -100,16 +106,16 @@ Changelog for package autoware_behavior_velocity_template_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml index e6e3993b1aff3..d2c8bca4d2964 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_template_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_template_module package Daniel Sanchez diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst index 4d3b4348cc9e0..21b97a744299e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst @@ -2,13 +2,34 @@ Changelog for package autoware_behavior_velocity_traffic_light_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* fix(stopline, traffic_light): fix planning factor distance value (`#10245 `_) +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Mamoru Sobue, Satoshi OTA, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(autoware_behavior_velocity_traffic_light_module): adjust velocity threshold for ensure stop at yellow light (`#10064 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_behavior_velocity_traffic_light_module): adjust velocity threshold for ensure stop at yellow light (`#10064 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -48,7 +69,7 @@ Changelog for package autoware_behavior_velocity_traffic_light_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -57,7 +78,7 @@ Changelog for package autoware_behavior_velocity_traffic_light_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -81,15 +102,15 @@ Changelog for package autoware_behavior_velocity_traffic_light_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) * feat(behavior_velocity_planner)!: remove velocity_factor completely * minimize diff --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -99,7 +120,7 @@ Changelog for package autoware_behavior_velocity_traffic_light_module * fix * change directory tests -> test --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -113,21 +134,21 @@ Changelog for package autoware_behavior_velocity_traffic_light_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* ci(pre-commit): autoupdate (`#8949 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* ci(pre-commit): autoupdate (`#8949 `_) Co-authored-by: M. Fatih Cırıt -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) -* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> @@ -136,9 +157,9 @@ Changelog for package autoware_behavior_velocity_traffic_light_module Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) -* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) * feat(behavior_velocity_planner): replace first_stop_path_point_index * add const * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -147,8 +168,8 @@ Changelog for package autoware_behavior_velocity_traffic_light_module Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -158,9 +179,9 @@ Changelog for package autoware_behavior_velocity_traffic_light_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -171,29 +192,29 @@ Changelog for package autoware_behavior_velocity_traffic_light_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(traffic_light): write test for utils (`#9046 `_) +* test(traffic_light): write test for utils (`#9046 `_) * refactor: separate utils file * refactor: utils function output * test: write test for utils * chore: add doxygen --------- -* fix(behavior_velocity_traffic_light): make dilemma_zone_plotter.py executable (`#8684 `_) -* feat(traffic_light): add dilemma_zone_plotter.py (`#8638 `_) +* fix(behavior_velocity_traffic_light): make dilemma_zone_plotter.py executable (`#8684 `_) +* feat(traffic_light): add dilemma_zone_plotter.py (`#8638 `_) * feat(traffic_light): add dilemma_zone_plotter.py * fix typo * fix typo --------- -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_traffic_light_module): fix uninitMemberVar (`#8317 `_) +* fix(autoware_behavior_velocity_traffic_light_module): fix uninitMemberVar (`#8317 `_) fix:funinitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml index 0923e9645b53e..7cb4de3a6692d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_traffic_light_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_traffic_light_module package Satoshi Ota @@ -22,6 +22,7 @@ autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_rtc_interface + autoware_internal_planning_msgs autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp index 7d86ac6028c82..cf8e214dc22ac 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp @@ -82,6 +82,7 @@ void TrafficLightModuleManager::modifyPathVelocity( virtual_wall_marker_creator_.add_virtual_walls( traffic_light_scene_module->createVirtualWalls()); } + planning_factor_interface_->publish(); pub_debug_->publish(debug_marker_array); pub_virtual_wall_->publish(virtual_wall_marker_creator_.create_markers(clock_->now())); pub_tl_state_->publish(tl_state); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index 2d3479b855787..3717c5ebfdd4f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -296,9 +296,10 @@ autoware_internal_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertS planning_factor_interface_->add( modified_path.points, planner_data_->current_odometry->pose, - target_point_with_lane_id.point.pose, target_point_with_lane_id.point.pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + target_point_with_lane_id.point.pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, "traffic_light"); return modified_path; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst index d7df09370a794..f633ec5e62f72 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst @@ -2,12 +2,32 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -47,7 +67,7 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -56,11 +76,11 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_planning_test_manager): remove dependency of VirtualTrafficLightState and ExpandStopRange (`#9953 `_) +* feat(autoware_planning_test_manager): remove dependency of VirtualTrafficLightState and ExpandStopRange (`#9953 `_) * feat(autoware_planning_test_manager): remove dependency of virtual traffic light * modify obstacle_stop test code --------- -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -84,15 +104,15 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) +* feat(behavior_velocity_planner)!: remove velocity_factor completely (`#9943 `_) * feat(behavior_velocity_planner)!: remove velocity_factor completely * minimize diff --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(behavior_velocity_planner): remove virtual traffic light dependency from behavior_velocity_planner and behavior_velocity_planner_common (`#9746 `_) +* feat(behavior_velocity_planner): remove virtual traffic light dependency from behavior_velocity_planner and behavior_velocity_planner_common (`#9746 `_) * feat: remove-virtual-traffic-light-dependency-from-plugin-manager * build passed * fix test @@ -100,7 +120,7 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module * fix * fix typo --------- -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -110,7 +130,7 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module * fix * change directory tests -> test --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -124,23 +144,23 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -150,9 +170,9 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -163,27 +183,27 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(virtual_traffic_light): add unit tests for utils (`#9107 `_) -* chore(virtual_traffic_light): add soblin to maintainer (`#9147 `_) -* refactor(virtual_traffic_light): move to utils for unit test (`#9106 `_) -* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedFunction (`#8670 `_) +* test(virtual_traffic_light): add unit tests for utils (`#9107 `_) +* chore(virtual_traffic_light): add soblin to maintainer (`#9147 `_) +* refactor(virtual_traffic_light): move to utils for unit test (`#9106 `_) +* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedFunction (`#8670 `_) fix:unusedFunction -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedStructMember (`#8394 `_) +* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedStructMember (`#8394 `_) fix:unusedStructMember -* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index 4ccc96599cf42..bc261372c1bdb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_virtual_traffic_light_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_virtual_traffic_light_module package Kosuke Takeuchi @@ -20,6 +20,7 @@ autoware_adapi_v1_msgs autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common + autoware_internal_planning_msgs autoware_lanelet2_extension autoware_motion_utils autoware_planning_msgs diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp index 5db3983be12e2..0ad9d85ee2808 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp @@ -420,9 +420,10 @@ void VirtualTrafficLightModule::insertStopVelocityAtStopLine( // Set StopReason planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + path->points, planner_data_->current_odometry->pose, stop_pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); // Set data for visualization module_data_.stop_head_pose_at_stop_line = @@ -454,9 +455,10 @@ void VirtualTrafficLightModule::insertStopVelocityAtEndLine( // Set StopReason planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + path->points, planner_data_->current_odometry->pose, stop_pose, + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); // Set data for visualization module_data_.stop_head_pose_at_end_line = diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst index 6e2d528a497b9..c97ff2b2d22f2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst @@ -2,13 +2,33 @@ Changelog for package autoware_behavior_velocity_walkway_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(behavior_velocity_planner): planning factor integration (`#10292 `_) + * fix: blind_spot + * fix: crosswalk + * fix: detection_area + * fix: intersection + * fix: no_drivable_lane + * fix: no_stopping_area + * fix: run_out + * fix: stop_line + * fix: traffic_light + * fix: virtual_traffic_light + * fix: walk_way + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -48,7 +68,7 @@ Changelog for package autoware_behavior_velocity_walkway_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -57,7 +77,7 @@ Changelog for package autoware_behavior_velocity_walkway_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -81,11 +101,11 @@ Changelog for package autoware_behavior_velocity_walkway_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(behavior_velocity_modules): add node test (`#9790 `_) +* feat(behavior_velocity_modules): add node test (`#9790 `_) * feat(behavior_velocity_crosswalk): add node test * fix * feat(behavior_velocity_xxx_module): add node test @@ -95,7 +115,7 @@ Changelog for package autoware_behavior_velocity_walkway_module * fix * change directory tests -> test --------- -* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) +* refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (`#9799 `_) * split into planer_common and rtc_interface * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue @@ -109,25 +129,25 @@ Changelog for package autoware_behavior_velocity_walkway_module 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix(autoware_behavior_velocity_walkway_module): fix clang-diagnostic-unused-lambda-capture (`#9415 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix(autoware_behavior_velocity_walkway_module): fix clang-diagnostic-unused-lambda-capture (`#9415 `_) fix: clang-diagnostic-unused-lambda-capture -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -137,9 +157,9 @@ Changelog for package autoware_behavior_velocity_walkway_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -150,21 +170,21 @@ Changelog for package autoware_behavior_velocity_walkway_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) +* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) * refactor(crosswalk): clean up the structure and create a brief flowchart * update * fix * static stop pose -> default stop pose --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml index c7797ddd31a61..5a59f9dfa9e55 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_walkway_module - 0.42.0 + 0.43.0 The autoware_behavior_velocity_walkway_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp index f2e8ecff6894c..827655daa2717 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp @@ -123,9 +123,10 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path) /* get stop point and stop factor */ planning_factor_interface_->add( - path->points, planner_data_->current_odometry->pose, stop_pose.value(), stop_pose.value(), - tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0 /*velocity*/, 0.0 /*shift distance*/, "walkway_stop"); + path->points, planner_data_->current_odometry->pose, stop_pose.value(), + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, + 0.0 /*velocity*/, 0.0 /*shift distance*/, "walkway_stop"); // use arc length to identify if ego vehicle is in front of walkway stop or not. const double signed_arc_dist_to_stop_point = diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst index 9ad3b61974aad..c39f8affe10ae 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst @@ -2,12 +2,19 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(dynamic_obstacle_stop): publish processing time when early return (`#10254 `_) +* Contributors: Hayato Mizushima, Maxime CLEMENT, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) * feat(motion_velocity_planner): prepare for motion_velocity\__module * update launch --------- @@ -15,7 +22,7 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -24,8 +31,8 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -49,42 +56,42 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(motion_velocity_planner): introduce Object/Pointcloud structure in PlannerData (`#9812 `_) +* feat(motion_velocity_planner): introduce Object/Pointcloud structure in PlannerData (`#9812 `_) * feat: new object/pointcloud struct in motion velocity planner * update planner_data * modify modules * fix --------- -* feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency (`#9757 `_) +* feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency (`#9757 `_) * feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency * fix --------- -* feat(motion_velocity_planner): use Float64Stamped in autoware_internal_debug_msgs (`#9745 `_) +* feat(motion_velocity_planner): use Float64Stamped in autoware_internal_debug_msgs (`#9745 `_) * Contributors: Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -94,9 +101,9 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -107,20 +114,20 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(dynamic_obstacle_stop): add tests and do some refactoring (`#8250 `_) -* fix(autoware_motion_velocity_dynamic_obstacle_stop_module): fix funcArgNamesDifferent (`#8024 `_) +* test(dynamic_obstacle_stop): add tests and do some refactoring (`#8250 `_) +* fix(autoware_motion_velocity_dynamic_obstacle_stop_module): fix funcArgNamesDifferent (`#8024 `_) fix:funcArgNamesDifferent -* perf(dynamic_obstacle_stop): construct rtree nodes in place (`#7753 `_) -* perf(dynamic_obstacle_stop): create rtree with packing algorithm (`#7730 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* perf(dynamic_obstacle_stop): construct rtree nodes in place (`#7753 `_) +* perf(dynamic_obstacle_stop): create rtree with packing algorithm (`#7730 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) * Contributors: Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml index 2a0de3905882a..9061a2faad80e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_dynamic_obstacle_stop_module - 0.42.0 + 0.43.0 dynamic_obstacle_stop module to stop ego when in the immediate path of a dynamic object Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.cpp index 12d2d3600695f..90796873828a4 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.cpp @@ -32,7 +32,6 @@ #include #include #include -#include #include namespace autoware::motion_velocity_planner @@ -97,6 +96,14 @@ void DynamicObstacleStopModule::update_parameters(const std::vectornow(); + processing_time_msg.data = processing_time_ms; + processing_time_publisher_->publish(processing_time_msg); +} + VelocityPlanningResult DynamicObstacleStopModule::plan( [[maybe_unused]] const std::vector & raw_trajectory_points, @@ -105,9 +112,12 @@ VelocityPlanningResult DynamicObstacleStopModule::plan( { VelocityPlanningResult result; debug_data_.reset_data(); - if (smoothed_trajectory_points.size() < 2) return result; - autoware_utils::StopWatch stopwatch; + if (smoothed_trajectory_points.size() < 2) { + publish_processing_time(stopwatch.toc() / 1000); + return result; + } + stopwatch.tic(); stopwatch.tic("preprocessing"); dynamic_obstacle_stop::EgoData ego_data; @@ -191,10 +201,7 @@ VelocityPlanningResult DynamicObstacleStopModule::plan( processing_times["collisions"] = collisions_duration_us / 1000; processing_times["Total"] = total_time_us / 1000; processing_diag_publisher_->publish(processing_times); - autoware_internal_debug_msgs::msg::Float64Stamped processing_time_msg; - processing_time_msg.stamp = clock_->now(); - processing_time_msg.data = processing_times["Total"]; - processing_time_publisher_->publish(processing_time_msg); + publish_processing_time(processing_times["Total"]); return result; } diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.hpp index aca86a82798ab..04d4279d5bb8d 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.hpp @@ -35,6 +35,7 @@ class DynamicObstacleStopModule : public PluginModuleInterface void init(rclcpp::Node & node, const std::string & module_name) override; void publish_planning_factor() override { planning_factor_interface_->publish(); }; void update_parameters(const std::vector & parameters) override; + void publish_processing_time(const double processing_time_ms); VelocityPlanningResult plan( const std::vector & raw_trajectory_points, const std::vector & smoothed_trajectory_points, @@ -47,7 +48,7 @@ class DynamicObstacleStopModule : public PluginModuleInterface inline static const std::string ns_ = "dynamic_obstacle_stop"; std::string module_name_; - rclcpp::Clock::SharedPtr clock_{}; + rclcpp::Clock::SharedPtr clock_; dynamic_obstacle_stop::PlannerParam params_; dynamic_obstacle_stop::ObjectStopDecisionMap object_map_; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/CHANGELOG.rst index 17c41b44c83ec..edf440ea4c68c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/CHANGELOG.rst @@ -2,12 +2,32 @@ Changelog for package autoware_motion_velocity_obstacle_cruise_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat(path_optimizer): additional failure logging and failure mode handling (`#10276 `_) + MRM when MPT fails +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* fix(obstacle_cruise_planner): fix obstacle filtering logic (`#10232 `_) + * add absolute + * fix find_yield_cruise_obstacles() calling + --------- +* fix(obstacle_cruise_planner): ignore invalid stopping objects (`#10227 `_) + * ignore not specified stopping objects + * change debug print level + * add ahead_stopped prameter + * rename ahead_stopped -> side_stopped + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Arjun Jagdish Ram, Hayato Mizushima, Kento Yabuuchi, Ryohsuke Mitsudome, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) -* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) +* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) * implement obstacle stop, slow_down, and cruise * fix clang-tidy * revert obstacle_cruise_planner @@ -15,9 +35,9 @@ Changelog for package autoware_motion_velocity_obstacle_cruise_module * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, Takayuki Murooka, 心刚 * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) -* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) +* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) * implement obstacle stop, slow_down, and cruise * fix clang-tidy * revert obstacle_cruise_planner diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/README.md index 296bb6290e398..e382ba1ae71d6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/README.md +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/README.md @@ -41,7 +41,7 @@ The obstacles meeting the following condition are determined as obstacles for yi - The object type is for cruising according to `obstacle_filtering.object_type.*` and it is moving with a speed greater than `obstacle_filtering.yield.stopped_obstacle_velocity_threshold`. - The object is not crossing the ego's trajectory (\*1). -- There is another object of type `obstacle_filtering.object_type.*` stopped in front of the moving obstacle. +- There is another object of type `obstacle_filtering.object_type.side_stopped` stopped in front of the moving obstacle. - The lateral distance (using the ego's trajectory as reference) between both obstacles is less than `obstacle_filtering.yield.max_lat_dist_between_obstacles` - Both obstacles, moving and stopped, are within `obstacle_filtering.yield.lat_distance_threshold` and `obstacle_filtering.yield.lat_distance_threshold` + `obstacle_filtering.yield.max_lat_dist_between_obstacles` lateral distance from the ego's trajectory respectively. diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/config/obstacle_cruise.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/config/obstacle_cruise.param.yaml index 214f7bb35a155..ad79b9a11120d 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/config/obstacle_cruise.param.yaml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/config/obstacle_cruise.param.yaml @@ -95,6 +95,17 @@ bicycle: false pedestrian: false + # If an object does not have this label, the ego vehicle does not assume that the yielded obstacle will cut in due to the object. + side_stopped: + unknown: false + car: true + truck: true + bus: true + trailer: true + motorcycle: true + bicycle: false + pedestrian: false + max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width # if crossing vehicle is determined as target obstacles or not diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/package.xml index dca6e3b5a473a..07c137c4e22fd 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_obstacle_cruise_module - 0.42.0 + 0.43.0 obstacle cruise feature in motion_velocity_planner Takayuki Murooka @@ -13,6 +13,7 @@ ament_cmake_auto autoware_cmake + autoware_internal_planning_msgs autoware_motion_utils autoware_motion_velocity_planner_common_universe autoware_osqp_interface @@ -28,7 +29,6 @@ rclcpp tf2 tier4_metric_msgs - tier4_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp index 56199900ed1d8..7bf05283f30f8 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp @@ -257,26 +257,27 @@ std::vector ObstacleCruiseModule::filter_cruise_obstacle_for_pre cruise_obstacles.push_back(*cruise_obstacle); continue; } + } - // 3. precise filtering for yield cruise - if (obstacle_filtering_param_.enable_yield) { - const auto yield_obstacles = find_yield_cruise_obstacles( - odometry, objects, predicted_objects_stamp, traj_points, vehicle_info); - if (yield_obstacles) { - for (const auto & y : yield_obstacles.value()) { - // Check if there is no member with the same UUID in cruise_obstacles - auto it = std::find_if( - cruise_obstacles.begin(), cruise_obstacles.end(), - [&y](const auto & c) { return y.uuid == c.uuid; }); - - // If no matching UUID found, insert yield obstacle into cruise_obstacles - if (it == cruise_obstacles.end()) { - cruise_obstacles.push_back(y); - } + // 3. precise filtering for yield cruise + if (obstacle_filtering_param_.enable_yield) { + const auto yield_obstacles = find_yield_cruise_obstacles( + odometry, objects, predicted_objects_stamp, traj_points, vehicle_info); + if (yield_obstacles) { + for (const auto & y : yield_obstacles.value()) { + // Check if there is no member with the same UUID in cruise_obstacles + auto it = std::find_if( + cruise_obstacles.begin(), cruise_obstacles.end(), + [&y](const auto & c) { return y.uuid == c.uuid; }); + + // If no matching UUID found, insert yield obstacle into cruise_obstacles + if (it == cruise_obstacles.end()) { + cruise_obstacles.push_back(y); } } } } + prev_cruise_object_obstacles_ = cruise_obstacles; return cruise_obstacles; @@ -461,14 +462,14 @@ std::optional> ObstacleCruiseModule::find_yield_crui obstacle_filtering_param_.stopped_obstacle_velocity_threshold; if (is_moving) { const bool is_within_lat_dist_threshold = - o->get_dist_to_traj_lateral(traj_points) < + std::abs(o->get_dist_to_traj_lateral(traj_points)) < obstacle_filtering_param_.yield_lat_distance_threshold; if (is_within_lat_dist_threshold) moving_objects.push_back(o); return; } // lat threshold is larger for stopped obstacles const bool is_within_lat_dist_threshold = - o->get_dist_to_traj_lateral(traj_points) < + std::abs(o->get_dist_to_traj_lateral(traj_points)) < obstacle_filtering_param_.yield_lat_distance_threshold + obstacle_filtering_param_.max_lat_dist_between_obstacles; if (is_within_lat_dist_threshold) stopped_objects.push_back(o); @@ -517,8 +518,8 @@ std::optional> ObstacleCruiseModule::find_yield_crui longitudinal_distance_between_obstacles / moving_object_speed < obstacle_filtering_param_.max_obstacles_collision_time; if (are_obstacles_aligned && obstacles_collide_within_threshold_time) { - const auto yield_obstacle = - create_yield_cruise_obstacle(moving_object, predicted_objects_stamp, traj_points); + const auto yield_obstacle = create_yield_cruise_obstacle( + moving_object, stopped_object, predicted_objects_stamp, traj_points); if (yield_obstacle) { yield_obstacles.push_back(*yield_obstacle); using autoware::objects_of_interest_marker_interface::ColorName; @@ -703,8 +704,9 @@ ObstacleCruiseModule::create_collision_points_for_outside_cruise_obstacle( } std::optional ObstacleCruiseModule::create_yield_cruise_obstacle( - const std::shared_ptr object, const rclcpp::Time & predicted_objects_stamp, - const std::vector & traj_points) + const std::shared_ptr object, + const std::shared_ptr stopped_object, + const rclcpp::Time & predicted_objects_stamp, const std::vector & traj_points) { if (traj_points.empty()) return std::nullopt; // check label @@ -719,6 +721,15 @@ std::optional ObstacleCruiseModule::create_yield_cruise_obstacle return std::nullopt; } + if (!is_side_stopped_obstacle(stopped_object->predicted_object.classification.at(0).label)) { + RCLCPP_DEBUG( + logger_, + "[Cruise] Ignore yield obstacle (%s) since the corresponding stopped object type is not " + "designated as side_stopped.", + obj_uuid_str.substr(0, 4).c_str()); + return std::nullopt; + } + if ( std::hypot( object->predicted_object.kinematics.initial_twist_with_covariance.twist.linear.x, @@ -779,6 +790,12 @@ bool ObstacleCruiseModule::is_outside_cruise_obstacle(const uint8_t label) const return std::find(types.begin(), types.end(), label) != types.end(); } +bool ObstacleCruiseModule::is_side_stopped_obstacle(const uint8_t label) const +{ + const auto & types = obstacle_filtering_param_.side_stopped_object_types; + return std::find(types.begin(), types.end(), label) != types.end(); +} + bool ObstacleCruiseModule::is_cruise_obstacle(const uint8_t label) const { return is_inside_cruise_obstacle(label) || is_outside_cruise_obstacle(label); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp index cfb066c1d09df..7c2877c37bd92 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp @@ -119,10 +119,12 @@ class ObstacleCruiseModule : public PluginModuleInterface const bool is_driving_forward, const VehicleInfo & vehicle_info, const TrajectoryPolygonCollisionCheck & trajectory_polygon_collision_check) const; std::optional create_yield_cruise_obstacle( - const std::shared_ptr object, const rclcpp::Time & predicted_objects_stamp, - const std::vector & traj_points); + const std::shared_ptr object, + const std::shared_ptr stopped_object, + const rclcpp::Time & predicted_objects_stamp, const std::vector & traj_points); bool is_inside_cruise_obstacle(const uint8_t label) const; bool is_outside_cruise_obstacle(const uint8_t label) const; + bool is_side_stopped_obstacle(const uint8_t label) const; bool is_cruise_obstacle(const uint8_t label) const; bool is_front_collide_obstacle( const std::vector & traj_points, diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/optimization_based_planner/velocity_optimizer.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/optimization_based_planner/velocity_optimizer.cpp index d8e8c1aff5474..2f6dcbe4f1ec6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/optimization_based_planner/velocity_optimizer.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/optimization_based_planner/velocity_optimizer.cpp @@ -248,10 +248,11 @@ VelocityOptimizer::OptimizationResult VelocityOptimizer::optimize(const Optimiza } // execute optimization - const auto result = qp_solver_.optimize(P, A, q, lower_bound, upper_bound); - const std::vector optval = std::get<0>(result); + const autoware::osqp_interface::OSQPResult result = + qp_solver_.optimize(P, A, q, lower_bound, upper_bound); + const std::vector optval = result.primal_solution; - const int status_val = std::get<3>(result); + const int status_val = result.solution_status; if (status_val != 1) std::cerr << "optimization failed : " << qp_solver_.getStatusMessage().c_str() << std::endl; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/parameters.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/parameters.hpp index 54538343d19d1..e4cac0801fbfe 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/parameters.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/parameters.hpp @@ -64,6 +64,7 @@ struct ObstacleFilteringParam { std::vector inside_object_types{}; std::vector outside_object_types{}; + std::vector side_stopped_object_types{}; // bool use_pointcloud{}; double max_lat_margin{}; @@ -93,6 +94,8 @@ struct ObstacleFilteringParam utils::get_target_object_type(node, "obstacle_cruise.obstacle_filtering.object_type.inside."); outside_object_types = utils::get_target_object_type( node, "obstacle_cruise.obstacle_filtering.object_type.outside."); + side_stopped_object_types = utils::get_target_object_type( + node, "obstacle_cruise.obstacle_filtering.object_type.side_stopped."); // use_pointcloud = get_or_declare_parameter( // node, "obstacle_cruise.obstacle_filtering.object_type.pointcloud"); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/pid_based_planner/pid_based_planner.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/pid_based_planner/pid_based_planner.cpp index 3984c3d935ccb..3bd2bd2338c5a 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/pid_based_planner/pid_based_planner.cpp @@ -24,7 +24,7 @@ #include "autoware_utils/ros/marker_helper.hpp" #include "autoware_utils/ros/update_param.hpp" -#include "tier4_planning_msgs/msg/velocity_limit.hpp" +#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp" #include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/type_alias.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/type_alias.hpp index 24468376c5ae7..df86330773e3d 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/type_alias.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/type_alias.hpp @@ -20,19 +20,19 @@ #include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp" #include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" #include "autoware_internal_debug_msgs/msg/float64_stamped.hpp" +#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp" +#include "autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp" #include "autoware_perception_msgs/msg/predicted_object.hpp" #include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "geometry_msgs/msg/twist.hpp" #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/point_cloud2.hpp" -#include "tier4_planning_msgs/msg/velocity_limit.hpp" -#include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include +#include #include #include -#include -#include #include #include @@ -43,6 +43,8 @@ using autoware::vehicle_info_utils::VehicleInfo; using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped; using autoware_internal_debug_msgs::msg::Float32Stamped; using autoware_internal_debug_msgs::msg::Float64Stamped; +using autoware_internal_planning_msgs::msg::VelocityLimit; +using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; @@ -53,8 +55,6 @@ using autoware_planning_msgs::msg::TrajectoryPoint; using geometry_msgs::msg::Twist; using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; -using tier4_planning_msgs::msg::VelocityLimit; -using tier4_planning_msgs::msg::VelocityLimitClearCommand; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; namespace bg = boost::geometry; @@ -63,8 +63,8 @@ using autoware_utils::Polygon2d; using Metric = tier4_metric_msgs::msg::Metric; using MetricArray = tier4_metric_msgs::msg::MetricArray; using PointCloud = pcl::PointCloud; -using tier4_planning_msgs::msg::PlanningFactor; -using tier4_planning_msgs::msg::SafetyFactorArray; +using autoware_internal_planning_msgs::msg::PlanningFactor; +using autoware_internal_planning_msgs::msg::SafetyFactorArray; } // namespace autoware::motion_velocity_planner #endif // TYPE_ALIAS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/CHANGELOG.rst index 4f92805542d77..bdba9ffd8ea61 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/CHANGELOG.rst @@ -2,14 +2,26 @@ Changelog for package autoware_motion_velocity_obstacle_slow_down_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* fix(obstacle stop/slow_down): early return without point cloud (`#10289 `_) + * fix(obstacle stop/slow_down): early return without point cloud + * update maintainer + --------- +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_motion_velocity_obstacle\__module): brings Point Cloud handling to this module (`#10112 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_motion_velocity_obstacle\__module): brings Point Cloud handling to this module (`#10112 `_) pointcloud handling for slowdown and stop module -* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) -* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) +* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) +* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) * implement obstacle stop, slow_down, and cruise * fix clang-tidy * revert obstacle_cruise_planner @@ -17,11 +29,11 @@ Changelog for package autoware_motion_velocity_obstacle_slow_down_module * Contributors: Arjun Jagdish Ram, Fumiya Watanabe, Ryohsuke Mitsudome, Takayuki Murooka, 心刚 * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_motion_velocity_obstacle\__module): brings Point Cloud handling to this module (`#10112 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_motion_velocity_obstacle\__module): brings Point Cloud handling to this module (`#10112 `_) pointcloud handling for slowdown and stop module -* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) -* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) +* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) +* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) * implement obstacle stop, slow_down, and cruise * fix clang-tidy * revert obstacle_cruise_planner diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml index 0d7eeba38a935..08d03a8a99dac 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml @@ -2,17 +2,19 @@ autoware_motion_velocity_obstacle_slow_down_module - 0.42.0 + 0.43.0 obstacle slow down feature in motion_velocity_planner Takayuki Murooka Yuki Takagi Maxime Clement + Arjun Ram Apache License 2.0 ament_cmake_auto autoware_cmake + autoware_internal_planning_msgs autoware_motion_utils autoware_motion_velocity_planner_common_universe autoware_perception_msgs @@ -27,7 +29,6 @@ rclcpp tf2 tier4_metric_msgs - tier4_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.cpp index 45bab49d3397b..69605f45a4dde 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.cpp @@ -454,6 +454,10 @@ std::vector ObstacleSlowDownModule::filter_slow_down_obstacle_ { autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_); + if (!obstacle_filtering_param_.use_pointcloud) { + return std::vector{}; + } + // calculate collision points with trajectory with lateral stop margin // NOTE: For additional margin, hysteresis is not divided by two. const auto & p = obstacle_filtering_param_; @@ -480,11 +484,7 @@ std::vector ObstacleSlowDownModule::filter_slow_down_obstacle_ const auto slow_down_obstacle = create_slow_down_obstacle_for_point_cloud( rclcpp::Time(point_cloud.pointcloud.header.stamp), front_collision_point, back_collision_point, slow_down_point_data.lat_dist_to_traj); - - if (slow_down_obstacle) { - slow_down_obstacles.push_back(*slow_down_obstacle); - continue; - } + slow_down_obstacles.push_back(slow_down_obstacle); } RCLCPP_DEBUG( @@ -630,13 +630,10 @@ ObstacleSlowDownModule::create_slow_down_obstacle_for_predicted_object( back_collision_point}; } -std::optional ObstacleSlowDownModule::create_slow_down_obstacle_for_point_cloud( +SlowDownObstacle ObstacleSlowDownModule::create_slow_down_obstacle_for_point_cloud( const rclcpp::Time & stamp, const geometry_msgs::msg::Point & front_collision_point, const geometry_msgs::msg::Point & back_collision_point, const double lat_dist_to_traj) { - if (!obstacle_filtering_param_.use_pointcloud) { - return std::nullopt; - } const unique_identifier_msgs::msg::UUID obj_uuid; const auto & obj_uuid_str = autoware_utils::to_hex_string(obj_uuid); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.hpp index 4be6b0165869a..6dabcb1131219 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.hpp @@ -111,7 +111,7 @@ class ObstacleSlowDownModule : public PluginModuleInterface const std::vector & decimated_traj_polys_with_lat_margin, const std::shared_ptr object, const rclcpp::Time & predicted_objects_stamp, const double dist_from_obj_poly_to_traj_poly); - std::optional create_slow_down_obstacle_for_point_cloud( + SlowDownObstacle create_slow_down_obstacle_for_point_cloud( const rclcpp::Time & stamp, const geometry_msgs::msg::Point & front_collision_point, const geometry_msgs::msg::Point & back_collision_point, const double lat_dist_to_traj); std::vector plan_slow_down( diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/type_alias.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/type_alias.hpp index 24468376c5ae7..df86330773e3d 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/type_alias.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/type_alias.hpp @@ -20,19 +20,19 @@ #include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp" #include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" #include "autoware_internal_debug_msgs/msg/float64_stamped.hpp" +#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp" +#include "autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp" #include "autoware_perception_msgs/msg/predicted_object.hpp" #include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "geometry_msgs/msg/twist.hpp" #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/point_cloud2.hpp" -#include "tier4_planning_msgs/msg/velocity_limit.hpp" -#include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include +#include #include #include -#include -#include #include #include @@ -43,6 +43,8 @@ using autoware::vehicle_info_utils::VehicleInfo; using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped; using autoware_internal_debug_msgs::msg::Float32Stamped; using autoware_internal_debug_msgs::msg::Float64Stamped; +using autoware_internal_planning_msgs::msg::VelocityLimit; +using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; @@ -53,8 +55,6 @@ using autoware_planning_msgs::msg::TrajectoryPoint; using geometry_msgs::msg::Twist; using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; -using tier4_planning_msgs::msg::VelocityLimit; -using tier4_planning_msgs::msg::VelocityLimitClearCommand; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; namespace bg = boost::geometry; @@ -63,8 +63,8 @@ using autoware_utils::Polygon2d; using Metric = tier4_metric_msgs::msg::Metric; using MetricArray = tier4_metric_msgs::msg::MetricArray; using PointCloud = pcl::PointCloud; -using tier4_planning_msgs::msg::PlanningFactor; -using tier4_planning_msgs::msg::SafetyFactorArray; +using autoware_internal_planning_msgs::msg::PlanningFactor; +using autoware_internal_planning_msgs::msg::SafetyFactorArray; } // namespace autoware::motion_velocity_planner #endif // TYPE_ALIAS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/CHANGELOG.rst index e11472d079705..9b51f58b003fd 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/CHANGELOG.rst @@ -2,15 +2,32 @@ Changelog for package autoware_motion_velocity_obstacle_stop_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(obstacle_stop): use max_lat_margin_against_unknown only for predicted object (`#10269 `_) +* fix(obstacle stop/slow_down): early return without point cloud (`#10289 `_) + * fix(obstacle stop/slow_down): early return without point cloud + * update maintainer + --------- +* fix(obstacle_stop): accounting for vehicle bumper length when handling point-cloud stop points (`#10250 `_) + * fix for point-cloud stop point + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Arjun Jagdish Ram, Hayato Mizushima, Takayuki Murooka, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_motion_velocity_obstacle\__module): brings Point Cloud handling to this module (`#10112 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_motion_velocity_obstacle\__module): brings Point Cloud handling to this module (`#10112 `_) pointcloud handling for slowdown and stop module -* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) -* chore(motion_velocity_obstacle_stop_module): remove unnecessary dependency (`#10109 `_) -* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) +* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) +* chore(motion_velocity_obstacle_stop_module): remove unnecessary dependency (`#10109 `_) +* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) * implement obstacle stop, slow_down, and cruise * fix clang-tidy * revert obstacle_cruise_planner @@ -18,12 +35,12 @@ Changelog for package autoware_motion_velocity_obstacle_stop_module * Contributors: Arjun Jagdish Ram, Fumiya Watanabe, Ryohsuke Mitsudome, Takayuki Murooka, 心刚 * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(autoware_motion_velocity_obstacle\__module): brings Point Cloud handling to this module (`#10112 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_motion_velocity_obstacle\__module): brings Point Cloud handling to this module (`#10112 `_) pointcloud handling for slowdown and stop module -* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) -* chore(motion_velocity_obstacle_stop_module): remove unnecessary dependency (`#10109 `_) -* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) +* feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (`#10174 `_) +* chore(motion_velocity_obstacle_stop_module): remove unnecessary dependency (`#10109 `_) +* feat: introduce motion_velocity_obstacle\__module (`#9807 `_) * implement obstacle stop, slow_down, and cruise * fix clang-tidy * revert obstacle_cruise_planner diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/config/obstacle_stop.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/config/obstacle_stop.param.yaml index 4203a94df43a9..f7b5251916473 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/config/obstacle_stop.param.yaml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/config/obstacle_stop.param.yaml @@ -67,7 +67,7 @@ obstacle_velocity_threshold_from_stop : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] max_lat_margin: 0.3 # lateral margin between the obstacles except for unknown and ego's footprint - max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint + max_lat_margin_against_predicted_object_unknown: 0.3 # lateral margin between the predicted object unknown obstacles and ego's footprint min_velocity_to_reach_collision_point: 2.0 # minimum velocity margin to calculate time to reach collision [m/s] stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml index 2a838239fbe95..c66dbf702786c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml @@ -2,18 +2,20 @@ autoware_motion_velocity_obstacle_stop_module - 0.42.0 + 0.43.0 obstacle stop feature in motion_velocity_planner Takayuki Murooka Yuki Takagi Maxime Clement + Arjun Ram Berkay Karaman Apache License 2.0 ament_cmake_auto autoware_cmake + autoware_internal_planning_msgs autoware_motion_utils autoware_motion_velocity_planner_common_universe autoware_perception_msgs diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp index f739bed1f1d69..d51ef2491797e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp @@ -149,8 +149,6 @@ void ObstacleStopModule::init(rclcpp::Node & node, const std::string & module_na common_param_ = CommonParam(node); stop_planning_param_ = StopPlanningParam(node, common_param_); obstacle_filtering_param_ = ObstacleFilteringParam(node); - use_pointcloud_ = - get_or_declare_parameter(node, "obstacle_stop.obstacle_filtering.object_type.pointcloud"); // common publisher processing_time_publisher_ = @@ -229,7 +227,7 @@ VelocityPlanningResult ObstacleStopModule::plan( // 4. filter obstacles of point cloud auto stop_obstacles_for_point_cloud = filter_stop_obstacle_for_point_cloud( planner_data->current_odometry, raw_trajectory_points, decimated_traj_points, - planner_data->no_ground_pointcloud, planner_data->vehicle_info_, + planner_data->no_ground_pointcloud, planner_data->vehicle_info_, dist_to_bumper, planner_data->trajectory_polygon_collision_check, planner_data->find_index(raw_trajectory_points, planner_data->current_odometry.pose.pose)); @@ -268,10 +266,9 @@ std::vector ObstacleStopModule::convert_point_cloud_t std::vector stop_collision_points; - // 1. transform pointcloud pcl::PointCloud::Ptr pointcloud_ptr = std::make_shared>(pointcloud.pointcloud); - // 2. downsample & cluster pointcloud + // 1. downsample & cluster pointcloud PointCloud::Ptr filtered_points_ptr(new PointCloud); pcl::VoxelGrid filter; filter.setInputCloud(pointcloud_ptr); @@ -292,7 +289,7 @@ std::vector ObstacleStopModule::convert_point_cloud_t ec.setInputCloud(filtered_points_ptr); ec.extract(clusters); - // 3. convert clusters to obstacles + // 2. convert clusters to obstacles for (const auto & cluster_indices : clusters) { double ego_to_stop_collision_distance = std::numeric_limits::max(); double lat_dist_from_obstacle_to_traj = std::numeric_limits::max(); @@ -306,7 +303,7 @@ std::vector ObstacleStopModule::convert_point_cloud_t const auto min_lat_dist_to_traj_poly = std::abs(current_lat_dist_from_obstacle_to_traj) - vehicle_info.vehicle_width_m; - if (min_lat_dist_to_traj_poly >= p.max_lat_margin_against_unknown) { + if (min_lat_dist_to_traj_poly >= p.max_lat_margin) { continue; } const auto current_ego_to_obstacle_distance = @@ -333,16 +330,12 @@ std::vector ObstacleStopModule::convert_point_cloud_t return stop_collision_points; } -std::optional ObstacleStopModule::create_stop_obstacle_for_point_cloud( +StopObstacle ObstacleStopModule::create_stop_obstacle_for_point_cloud( const std::vector & traj_points, const rclcpp::Time & stamp, - const geometry_msgs::msg::Point & stop_point) const + const geometry_msgs::msg::Point & stop_point, const double dist_to_bumper) const { - if (!use_pointcloud_) { - return std::nullopt; - } - const auto dist_to_collide_on_traj = - autoware::motion_utils::calcSignedArcLength(traj_points, 0, stop_point); + autoware::motion_utils::calcSignedArcLength(traj_points, 0, stop_point) - dist_to_bumper; const unique_identifier_msgs::msg::UUID obj_uuid; const auto & obj_uuid_str = autoware_utils::to_hex_string(obj_uuid); @@ -350,18 +343,19 @@ std::optional ObstacleStopModule::create_stop_obstacle_for_point_c autoware_perception_msgs::msg::Shape bounding_box_shape; bounding_box_shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; - ObjectClassification unknown_object_classification; - unknown_object_classification.label = ObjectClassification::UNKNOWN; - unknown_object_classification.probability = 1.0; + ObjectClassification unconfigured_object_classification; const geometry_msgs::msg::Pose unconfigured_pose; const double unconfigured_lon_vel = 0.; return StopObstacle{ - obj_uuid_str, stamp, - unknown_object_classification, // Since the obstacle is obtained from the point-cloud, the type - // is UNKNOWN - unconfigured_pose, bounding_box_shape, unconfigured_lon_vel, stop_point, + obj_uuid_str, + stamp, + unconfigured_object_classification, + unconfigured_pose, + bounding_box_shape, + unconfigured_lon_vel, + stop_point, dist_to_collide_on_traj}; } @@ -444,10 +438,15 @@ std::vector ObstacleStopModule::filter_stop_obstacle_for_point_clo const Odometry & odometry, const std::vector & traj_points, const std::vector & decimated_traj_points, const PlannerData::Pointcloud & point_cloud, const VehicleInfo & vehicle_info, + const double dist_to_bumper, const TrajectoryPolygonCollisionCheck & trajectory_polygon_collision_check, size_t ego_idx) { autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_); + if (!obstacle_filtering_param_.use_pointcloud) { + return std::vector{}; + } + const auto & tp = trajectory_polygon_collision_check; const std::vector stop_points = @@ -466,12 +465,9 @@ std::vector ObstacleStopModule::filter_stop_obstacle_for_point_clo std::vector stop_obstacles; for (const auto & stop_point : stop_points) { // Filter obstacles for stop - const auto stop_obstacle = - create_stop_obstacle_for_point_cloud(decimated_traj_points, stop_obstacle_stamp, stop_point); - if (stop_obstacle) { - stop_obstacles.push_back(*stop_obstacle); - continue; - } + const auto stop_obstacle = create_stop_obstacle_for_point_cloud( + decimated_traj_points, stop_obstacle_stamp, stop_point, dist_to_bumper); + stop_obstacles.push_back(stop_obstacle); } std::vector past_stop_obstacles; @@ -491,10 +487,12 @@ std::vector ObstacleStopModule::filter_stop_obstacle_for_point_clo const auto min_lat_dist_to_traj_poly = std::abs(lat_dist_from_obstacle_to_traj) - vehicle_info.vehicle_width_m; - if (min_lat_dist_to_traj_poly < obstacle_filtering_param_.max_lat_margin_against_unknown) { + if (min_lat_dist_to_traj_poly < obstacle_filtering_param_.max_lat_margin) { auto stop_obstacle = *itr; - stop_obstacle.dist_to_collide_on_decimated_traj = autoware::motion_utils::calcSignedArcLength( - decimated_traj_points, 0, stop_obstacle.collision_point); + stop_obstacle.dist_to_collide_on_decimated_traj = + autoware::motion_utils::calcSignedArcLength( + decimated_traj_points, 0, stop_obstacle.collision_point) - + dist_to_bumper; past_stop_obstacles.push_back(stop_obstacle); } @@ -672,9 +670,7 @@ std::optional ObstacleStopModule::filter_outside_stop_obstacle_for } // 2. filter by lateral distance - const double max_lat_margin = obj_label == ObjectClassification::UNKNOWN - ? obstacle_filtering_param_.max_lat_margin_against_unknown - : obstacle_filtering_param_.max_lat_margin; + const double max_lat_margin = get_max_lat_margin(obj_label); if (dist_from_obj_poly_to_traj_poly < std::max(max_lat_margin, 1e-3)) { // Obstacle that is not inside of trajectory return std::nullopt; @@ -1325,7 +1321,7 @@ std::vector ObstacleStopModule::get_closest_stop_obstacles( double ObstacleStopModule::get_max_lat_margin(const uint8_t obj_label) const { if (obj_label == ObjectClassification::UNKNOWN) { - return obstacle_filtering_param_.max_lat_margin_against_unknown; + return obstacle_filtering_param_.max_lat_margin_against_predicted_object_unknown; } return obstacle_filtering_param_.max_lat_margin; } diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.hpp index 10a29edd07990..02890c66b2b15 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.hpp @@ -68,7 +68,6 @@ class ObstacleStopModule : public PluginModuleInterface // ros parameters bool ignore_crossing_obstacle_{}; bool suppress_sudden_stop_{}; - bool use_pointcloud_{false}; CommonParam common_param_{}; StopPlanningParam stop_planning_param_{}; ObstacleFilteringParam obstacle_filtering_param_{}; @@ -132,6 +131,7 @@ class ObstacleStopModule : public PluginModuleInterface const Odometry & odometry, const std::vector & traj_points, const std::vector & decimated_traj_points, const PlannerData::Pointcloud & point_cloud, const VehicleInfo & vehicle_info, + const double dist_to_bumper, const TrajectoryPolygonCollisionCheck & trajectory_polygon_collision_check, size_t ego_idx); std::optional plan_stop( @@ -186,9 +186,9 @@ class ObstacleStopModule : public PluginModuleInterface const VehicleInfo & vehicle_info, const double dist_to_bumper, const TrajectoryPolygonCollisionCheck & trajectory_polygon_collision_check) const; - std::optional create_stop_obstacle_for_point_cloud( + StopObstacle create_stop_obstacle_for_point_cloud( const std::vector & traj_points, const rclcpp::Time & stamp, - const geometry_msgs::msg::Point & stop_point) const; + const geometry_msgs::msg::Point & stop_point, const double dist_to_bumper) const; std::optional> create_collision_point_for_outside_stop_obstacle( diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/parameters.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/parameters.hpp index ce910287bb77a..2d7924eaed586 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/parameters.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/parameters.hpp @@ -86,7 +86,7 @@ struct ObstacleFilteringParam double obstacle_velocity_threshold_from_stop{}; double max_lat_margin{}; - double max_lat_margin_against_unknown{}; + double max_lat_margin_against_predicted_object_unknown{}; double min_velocity_to_reach_collision_point{}; double stop_obstacle_hold_time_threshold{}; @@ -120,8 +120,6 @@ struct ObstacleFilteringParam utils::get_target_object_type(node, "obstacle_stop.obstacle_filtering.object_type.inside."); outside_stop_object_types = utils::get_target_object_type(node, "obstacle_stop.obstacle_filtering.object_type.outside."); - use_pointcloud = get_or_declare_parameter( - node, "obstacle_stop.obstacle_filtering.object_type.pointcloud"); obstacle_velocity_threshold_to_stop = get_or_declare_parameter( node, "obstacle_stop.obstacle_filtering.obstacle_velocity_threshold_to_stop"); @@ -130,8 +128,8 @@ struct ObstacleFilteringParam max_lat_margin = get_or_declare_parameter(node, "obstacle_stop.obstacle_filtering.max_lat_margin"); - max_lat_margin_against_unknown = get_or_declare_parameter( - node, "obstacle_stop.obstacle_filtering.max_lat_margin_against_unknown"); + max_lat_margin_against_predicted_object_unknown = get_or_declare_parameter( + node, "obstacle_stop.obstacle_filtering.max_lat_margin_against_predicted_object_unknown"); min_velocity_to_reach_collision_point = get_or_declare_parameter( node, "obstacle_stop.obstacle_filtering.min_velocity_to_reach_collision_point"); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/type_alias.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/type_alias.hpp index 11ebdf1139c63..a8d9a4c8ea9ee 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/type_alias.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/type_alias.hpp @@ -26,10 +26,10 @@ #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/point_cloud2.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include +#include #include #include -#include -#include #include #include @@ -57,7 +57,7 @@ using autoware_utils::Polygon2d; using Metric = tier4_metric_msgs::msg::Metric; using MetricArray = tier4_metric_msgs::msg::MetricArray; using PointCloud = pcl::PointCloud; -using tier4_planning_msgs::msg::PlanningFactor; -using tier4_planning_msgs::msg::SafetyFactorArray; +using autoware_internal_planning_msgs::msg::PlanningFactor; +using autoware_internal_planning_msgs::msg::SafetyFactorArray; } // namespace autoware::motion_velocity_planner #endif // TYPE_ALIAS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst index 356e294dfcbb5..9a35f796a79d8 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst @@ -2,11 +2,17 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) * feat(motion_velocity_planner): prepare for motion_velocity\__module * update launch --------- @@ -14,7 +20,7 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -23,49 +29,49 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): remove cppcheck suppressions (`#9843 `_) -* feat(motion_velocity_planner): introduce Object/Pointcloud structure in PlannerData (`#9812 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): remove cppcheck suppressions (`#9843 `_) +* feat(motion_velocity_planner): introduce Object/Pointcloud structure in PlannerData (`#9812 `_) * feat: new object/pointcloud struct in motion velocity planner * update planner_data * modify modules * fix --------- -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix bugprone-exception-escape (`#9779 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix bugprone-exception-escape (`#9779 `_) * fix: bugprone-error * fix: cppcheck * fix: cpplint --------- -* feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency (`#9757 `_) +* feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency (`#9757 `_) * feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency * fix --------- -* feat(motion_velocity_planner): use Float64Stamped in autoware_internal_debug_msgs (`#9745 `_) +* feat(motion_velocity_planner): use Float64Stamped in autoware_internal_debug_msgs (`#9745 `_) * Contributors: Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -75,9 +81,9 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -88,43 +94,43 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module 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 `_) -* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* chore(obstacle_velocity_limiter): add Alqudah Mohammad as codeowner (`#8516 `_) -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix functionStatic (`#8483 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* chore(obstacle_velocity_limiter): add Alqudah Mohammad as codeowner (`#8516 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix functionStatic (`#8483 `_) fix:functionStatic -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable (`#8366 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable (`#8366 `_) * fix:unreadVariable * fix:unreadVariable --------- -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix uninitMemberVar (`#8314 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix uninitMemberVar (`#8314 `_) fix:funinitMemberVar -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix funcArgNamesDifferent (`#8025 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix funcArgNamesDifferent (`#8025 `_) fix:funcArgNamesDifferent -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix shadowVariable (`#7977 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix shadowVariable (`#7977 `_) * fix:shadowVariable * fix:shadowVariable --------- -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable warning (`#7625 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable warning (`#7625 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) -* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/README.md index ef9fd770c6289..c00ec112e20fe 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/README.md +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/README.md @@ -111,7 +111,7 @@ Obstacles from the lanelet map are not impacted by the masks. #### Occupancy Grid -Masking is performed by iterating through the cells inside each polygon mask using the [`autoware::grid_map_utils::PolygonIterator`](https://github.com/autowarefoundation/autoware.universe/tree/main/common/autoware_grid_map_utils) function. +Masking is performed by iterating through the cells inside each polygon mask using the [`autoware::grid_map_utils::PolygonIterator`](https://github.com/autowarefoundation/autoware_universe/tree/main/common/autoware_grid_map_utils) function. A threshold is then applied to only keep cells with an occupancy value above parameter `obstacles.occupancy_grid_threshold`. Finally, the image is converted to an image and obstacle linestrings are extracted using the opencv function [`findContour`](https://docs.opencv.org/3.4/d3/dc0/group__imgproc__shape.html#ga17ed9f5d79ae97bd4c7cf18403e1689a). diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml index c9b0b1ae0ecc3..4e7d4d911c738 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml @@ -1,7 +1,7 @@ autoware_motion_velocity_obstacle_velocity_limiter_module - 0.42.0 + 0.43.0 Package to adjust velocities of a trajectory in order for the ride to feel safe Maxime CLEMENT diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst index f494a695ac7ba..c1f5fda953ac6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst @@ -2,12 +2,22 @@ Changelog for package autoware_motion_velocity_out_of_lane_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* fix(out_of_lane): fix object path time collision calculation (`#10267 `_) + fix collision time calculation +* feat(out_of_lane): add option to use stop lines defined in the vector map (`#9584 `_) +* fix(out_of_lane): fix condition to keep using previous stop pose within some time buffer (`#10140 `_) +* Contributors: Hayato Mizushima, Maxime CLEMENT, Yutaka Kondo, mkquda + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) -* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) * feat(motion_velocity_planner): prepare for motion_velocity\__module * update launch --------- @@ -15,7 +25,7 @@ Changelog for package autoware_motion_velocity_out_of_lane_module 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -24,8 +34,8 @@ Changelog for package autoware_motion_velocity_out_of_lane_module 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) -* chore(planning): move package directory for planning factor interface (`#9948 `_) +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* chore(planning): move package directory for planning factor interface (`#9948 `_) * chore: add new package for planning factor interface * chore(surround_obstacle_checker): update include file * chore(obstacle_stop_planner): update include file @@ -49,106 +59,106 @@ Changelog for package autoware_motion_velocity_out_of_lane_module * chore(walkway): update include file * chore(motion_utils): remove factor interface --------- -* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) +* feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (`#9927 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: satoshi-ota -* feat(motion_velocity_planner): introduce Object/Pointcloud structure in PlannerData (`#9812 `_) +* feat(motion_velocity_planner): introduce Object/Pointcloud structure in PlannerData (`#9812 `_) * feat: new object/pointcloud struct in motion velocity planner * update planner_data * modify modules * fix --------- -* feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency (`#9757 `_) +* feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency (`#9757 `_) * feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency * fix --------- -* feat(motion_velocity_planner): use Float64Stamped in autoware_internal_debug_msgs (`#9745 `_) +* feat(motion_velocity_planner): use Float64Stamped in autoware_internal_debug_msgs (`#9745 `_) * Contributors: Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) +* fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) +* fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) * Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* perf(out_of_lane): use intersection with other lanes instead of difference with ego lane (`#8870 `_) -* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* perf(out_of_lane): use intersection with other lanes instead of difference with ego lane (`#8870 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* docs(out_of_lane): update documentation for the new design (`#8692 `_) -* fix(out_of_lane): fix a bug with the rtree reference deleted nodes (`#8679 `_) -* fix(out_of_lane): fix noConstructor cppcheck warning (`#8636 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* perf(out_of_lane): use rtree to get stop lines and trajectory lanelets (`#8439 `_) -* chore(out_of_lane): add Mamoru SOBUE as maintainer (`#8440 `_) -* feat(out_of_lane): also apply lat buffer between the lane and stop pose (`#7918 `_) -* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) -* fix(autoware_motion_velocity_out_of_lane_module): fix constParameterReference (`#8051 `_) +* docs(out_of_lane): update documentation for the new design (`#8692 `_) +* fix(out_of_lane): fix a bug with the rtree reference deleted nodes (`#8679 `_) +* fix(out_of_lane): fix noConstructor cppcheck warning (`#8636 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* perf(out_of_lane): use rtree to get stop lines and trajectory lanelets (`#8439 `_) +* chore(out_of_lane): add Mamoru SOBUE as maintainer (`#8440 `_) +* feat(out_of_lane): also apply lat buffer between the lane and stop pose (`#7918 `_) +* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) +* fix(autoware_motion_velocity_out_of_lane_module): fix constParameterReference (`#8051 `_) fix:constParameterReference -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -157,7 +167,7 @@ Changelog for package autoware_motion_velocity_out_of_lane_module * fix formats * keep header and source file name as before --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -192,17 +202,17 @@ Changelog for package autoware_motion_velocity_out_of_lane_module * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) * feat(motion_velocity_planner): use polling subscriber for odometry topic * use polling subscribers for more topics * remove blocking mutex lock when processing traffic lights * fix assign after return --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) * Contributors: Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, mkquda 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md index dfc88ef676838..ca8b225e46484 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md @@ -91,6 +91,10 @@ Whether it is decided to slow down or stop is determined by the distance between If this distance is bellow the `actions.slowdown.threshold`, a velocity of `actions.slowdown.velocity` will be used. If the distance is bellow the `actions.stop.threshold`, a velocity of `0`m/s will be used. +In addition, if parameter `action.use_map_stop_lines` is set to `true`, +then the stop point may be moved to the earliest stop line preceding the stop point where ego can comfortably stop. +Stop lines are defined in the vector map and must be attached to one of the lanelet followed by the ego trajectory. + ![avoid_collision](./docs/ttcs_avoid.png) ### About stability of the stop/slowdown pose @@ -126,6 +130,7 @@ Otherwise, the stop or slowdown pose will only be discarded after no out of lane | Parameter /action | Type | Description | | ------------------------------ | ------ | --------------------------------------------------------------------- | +| `use_map_stop_lines` | bool | [-] if true, try to stop at stop lines defined in the vector map | | `precision` | double | [m] precision when inserting a stop pose in the trajectory | | `longitudinal_distance_buffer` | double | [m] safety distance buffer to keep in front of the ego vehicle | | `lateral_distance_buffer` | double | [m] safety distance buffer to keep on the side of the ego vehicle | diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml index 150478ce268b2..a248ac4ac1841 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml @@ -18,6 +18,7 @@ ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored action: # action to insert in the trajectory if an object causes a conflict at an overlap + use_map_stop_lines: true # if true, try to stop at stop lines defined in the vector map precision: 0.1 # [m] precision when inserting a stop pose in the trajectory longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml index 1817dff6def8f..3aab9e1c79b9c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_out_of_lane_module - 0.42.0 + 0.43.0 The motion_velocity_out_of_lane_module package Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp index f437ccb6a1a98..97c41bd470584 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp @@ -84,15 +84,15 @@ std::optional calculate_pose_ahead_of_collision( return std::nullopt; } -std::optional calculate_slowdown_point( - const EgoData & ego_data, const OutOfLaneData & out_of_lane_data, PlannerParam params) +std::optional calculate_last_in_lane_pose( + const EgoData & ego_data, const OutOfLanePoint & point_to_avoid, PlannerParam params) { - const auto point_to_avoid_it = std::find_if( - out_of_lane_data.outside_points.cbegin(), out_of_lane_data.outside_points.cend(), - [&](const auto & p) { return p.to_avoid; }); - if (point_to_avoid_it == out_of_lane_data.outside_points.cend()) { - return std::nullopt; - } + std::optional last_in_lane_pose; + + const auto outside_idx = point_to_avoid.trajectory_index; + const auto outside_arc_length = + motion_utils::calcSignedArcLength(ego_data.trajectory_points, 0UL, outside_idx); + const auto raw_footprint = make_base_footprint(params, true); // ignore extra footprint offsets const auto base_footprint = make_base_footprint(params); params.extra_front_offset += params.lon_dist_buffer; @@ -100,32 +100,55 @@ std::optional calculate_slowdown_point( params.extra_left_offset += params.lat_dist_buffer; const auto expanded_footprint = make_base_footprint(params); // with added distance buffers lanelet::BasicPolygons2d polygons_to_avoid; - for (const auto & ll : point_to_avoid_it->overlapped_lanelets) { + for (const auto & ll : point_to_avoid.overlapped_lanelets) { polygons_to_avoid.push_back(ll.polygon2d().basicPolygon()); } - // points are ordered by trajectory index so the first one has the smallest index and arc length - const auto first_outside_idx = out_of_lane_data.outside_points.front().trajectory_index; - const auto first_outside_arc_length = - motion_utils::calcSignedArcLength(ego_data.trajectory_points, 0UL, first_outside_idx); - - std::optional slowdown_point; // search for the first slowdown decision for which a stop point can be inserted // we first try to use the expanded footprint (distance buffers + extra footprint offsets) - for (const auto & footprint : {expanded_footprint, base_footprint, raw_footprint}) { - slowdown_point = calculate_last_avoiding_pose( - ego_data.trajectory_points, footprint, polygons_to_avoid, ego_data.min_stop_arc_length, - first_outside_arc_length, params.precision); - if (slowdown_point) { + // then we use the base footprint (with distance buffers) + // finally, we use the raw footprint + for (const auto & ego_footprint : {expanded_footprint, base_footprint, raw_footprint}) { + last_in_lane_pose = calculate_last_avoiding_pose( + ego_data.trajectory_points, ego_footprint, polygons_to_avoid, ego_data.min_stop_arc_length, + outside_arc_length, params.precision); + if (last_in_lane_pose) { break; } } // fallback to simply stopping ahead of the collision to avoid (regardless of being out of lane or // not) - if (!slowdown_point) { - slowdown_point = calculate_pose_ahead_of_collision( - ego_data, *point_to_avoid_it, expanded_footprint, params.precision); + if (!last_in_lane_pose) { + last_in_lane_pose = calculate_pose_ahead_of_collision( + ego_data, point_to_avoid, expanded_footprint, params.precision); + } + return last_in_lane_pose; +} + +std::optional calculate_slowdown_pose( + const EgoData & ego_data, const OutOfLaneData & out_of_lane_data, const PlannerParam & params) +{ + // points are ordered by trajectory index so the first one has the smallest index and arc length + const auto point_to_avoid_it = std::find_if( + out_of_lane_data.outside_points.cbegin(), out_of_lane_data.outside_points.cend(), + [&](const auto & p) { return p.to_avoid; }); + if (point_to_avoid_it == out_of_lane_data.outside_points.cend()) { + return std::nullopt; + } + auto slowdown_pose = calculate_last_in_lane_pose(ego_data, *point_to_avoid_it, params); + if (slowdown_pose && params.use_map_stop_lines) { + // try to use a map stop line ahead of the stop pose + auto stop_arc_length = + motion_utils::calcSignedArcLength(ego_data.trajectory_points, 0LU, slowdown_pose->position); + for (const auto & stop_point : ego_data.map_stop_points) { + if ( + stop_point.ego_trajectory_arc_length < stop_arc_length && + stop_point.ego_trajectory_arc_length >= ego_data.min_stop_arc_length) { + slowdown_pose = stop_point.ego_stop_pose; + stop_arc_length = stop_point.ego_trajectory_arc_length; + } + } } - return slowdown_point; + return slowdown_pose; } void calculate_min_stop_and_slowdown_distances( diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp index d85ca8b202721..7ba156be59960 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp @@ -26,17 +26,6 @@ namespace autoware::motion_velocity_planner::out_of_lane { -/// @brief calculate the last pose along the trajectory where ego does not go out of lane -/// @param [in] ego_data ego data -/// @param [in] footprint the ego footprint -/// @param [in] min_arc_length minimum arc length for the search -/// @param [in] max_arc_length maximum arc length for the search -/// @param [in] precision [m] search precision -/// @return the last pose that is not out of lane (if found) -std::optional calculate_last_in_lane_pose( - const EgoData & ego_data, const autoware_utils::Polygon2d & footprint, - const double min_arc_length, const double max_arc_length, const double precision); - /// @brief calculate the slowdown pose just ahead of a point to avoid /// @param ego_data ego data (trajectory, velocity, etc) /// @param point_to_avoid the point to avoid @@ -47,13 +36,22 @@ std::optional calculate_pose_ahead_of_collision( const EgoData & ego_data, const OutOfLanePoint & point_to_avoid, const autoware_utils::Polygon2d & footprint, const double precision); +/// @brief calculate the last pose staying inside the lane and before the given point +/// @details if no pose staying inside the lane can be found, return a pose before the given point +/// @param [in] ego_data ego data (trajectory) +/// @param [in] point_to_avoid the out of lane point to avoid +/// @param [in] params parameters (ego footprint offsets, precision) +/// @return optional slowdown pose +std::optional calculate_last_in_lane_pose( + const EgoData & ego_data, const OutOfLanePoint & point_to_avoid, PlannerParam params); + /// @brief calculate the slowdown point to insert in the trajectory /// @param ego_data ego data (trajectory, velocity, etc) /// @param out_of_lane_data data about out of lane areas /// @param params parameters -/// @return optional slowdown point to insert in the trajectory -std::optional calculate_slowdown_point( - const EgoData & ego_data, const OutOfLaneData & out_of_lane_data, PlannerParam params); +/// @return optional slowdown pose to insert in the trajectory +std::optional calculate_slowdown_pose( + const EgoData & ego_data, const OutOfLaneData & out_of_lane_data, const PlannerParam & params); /// @brief calculate the minimum stop and slowdown distances of ego /// @param [inout] ego_data ego data where minimum stop and slowdown distances are set diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp index 568ed65d18dbd..7bb5052c44eab 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp @@ -123,7 +123,7 @@ size_t add_stop_line_markers( { auto debug_marker = get_base_marker(); debug_marker.type = visualization_msgs::msg::Marker::LINE_STRIP; - debug_marker.ns = "stop_lines"; + debug_marker.ns = "object_stop_lines"; const auto & add_lanelets_markers = [&](const auto & lanelets) { for (const auto & ll : lanelets) { debug_marker.points.clear(); @@ -155,6 +155,31 @@ size_t add_stop_line_markers( return max_id; } +void add_stop_line_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, + const std::vector & map_stop_points, const double z) +{ + auto debug_marker = get_base_marker(); + debug_marker.type = visualization_msgs::msg::Marker::LINE_LIST; + debug_marker.ns = "ego_stop_lines"; + debug_marker.scale = autoware_utils::create_marker_scale(0.2, 0.2, 0.2); + debug_marker.color = autoware_utils::create_marker_color(0.5, 0.0, 0.7, 1.0); + geometry_msgs::msg::Point p1; + geometry_msgs::msg::Point p2; + p1.z = p2.z = z; + for (const auto & stop_point : map_stop_points) { + for (auto i = 0UL; i + 1 < stop_point.stop_line.size(); ++i) { + p1.x = stop_point.stop_line[i].x(); + p1.y = stop_point.stop_line[i].y(); + p2.x = stop_point.stop_line[i + 1].x(); + p2.y = stop_point.stop_line[i + 1].y(); + debug_marker.points.push_back(p1); + debug_marker.points.push_back(p2); + } + } + debug_marker_array.markers.push_back(debug_marker); +} + void add_out_lanelets( visualization_msgs::msg::MarkerArray & marker_array, visualization_msgs::msg::Marker base_marker, const lanelet::ConstLanelets & out_lanelets) @@ -222,11 +247,11 @@ visualization_msgs::msg::MarkerArray create_debug_marker_array( const EgoData & ego_data, const OutOfLaneData & out_of_lane_data, const autoware_perception_msgs::msg::PredictedObjects & objects, DebugData & debug_data) { - const auto z = ego_data.pose.position.z; + const auto z = ego_data.pose.position.z + 0.5; visualization_msgs::msg::MarkerArray debug_marker_array; auto base_marker = get_base_marker(); - base_marker.pose.position.z = z + 0.5; + base_marker.pose.position.z = z; base_marker.ns = "footprints"; base_marker.color = autoware_utils::create_marker_color(1.0, 1.0, 1.0, 1.0); // TODO(Maxime): move the debug marker publishing AFTER the trajectory generation @@ -245,6 +270,8 @@ visualization_msgs::msg::MarkerArray create_debug_marker_array( debug_data.prev_stop_line = add_stop_line_markers( debug_marker_array, ego_data.stop_lines_rtree, z, debug_data.prev_stop_line); + add_stop_line_markers(debug_marker_array, ego_data.map_stop_points, z); + return debug_marker_array; } diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp index fe9ae5cd7f343..2338f9232d8bd 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp @@ -61,9 +61,8 @@ void calculate_object_path_time_collisions( const autoware_perception_msgs::msg::Shape & object_shape) { const auto time_step = rclcpp::Duration(object_path.time_step).seconds(); - auto time = time_step; + auto time = 0.0; for (const auto & object_pose : object_path.path) { - time += time_step; const auto object_footprint = autoware_utils::to_polygon2d(object_pose, object_shape); std::vector query_results; out_of_lane_data.outside_areas_rtree.query( @@ -74,6 +73,7 @@ void calculate_object_path_time_collisions( potential_collision_indexes.insert(index); } update_collision_times(out_of_lane_data, potential_collision_indexes, object_footprint, time); + time += time_step; } } @@ -117,10 +117,8 @@ void calculate_collisions_to_avoid( const std::vector & trajectory, const PlannerParam & params) { - for (auto & out_of_lane_point : out_of_lane_data.outside_points) { - calculate_min_max_arrival_times(out_of_lane_point, trajectory); - } for (auto & p : out_of_lane_data.outside_points) { + calculate_min_max_arrival_times(p, trajectory); if (params.mode == "ttc") { p.to_avoid = p.ttc && p.ttc <= params.ttc_threshold; } else { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp index ba02aaf301024..7ae24c9b699cc 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp @@ -95,6 +95,7 @@ void OutOfLaneModule::init_parameters(rclcpp::Node & node) get_or_declare_parameter(node, ns_ + ".objects.ignore_behind_ego"); pp.precision = get_or_declare_parameter(node, ns_ + ".action.precision"); + pp.use_map_stop_lines = get_or_declare_parameter(node, ns_ + ".action.use_map_stop_lines"); pp.min_decision_duration = get_or_declare_parameter(node, ns_ + ".action.min_duration"); pp.lon_dist_buffer = get_or_declare_parameter(node, ns_ + ".action.longitudinal_distance_buffer"); @@ -135,6 +136,7 @@ void OutOfLaneModule::update_parameters(const std::vector & p update_param(parameters, ns_ + ".objects.ignore_behind_ego", pp.objects_ignore_behind_ego); update_param(parameters, ns_ + ".action.precision", pp.precision); + update_param(parameters, ns_ + ".action.use_map_stop_lines", pp.use_map_stop_lines); update_param(parameters, ns_ + ".action.min_duration", pp.min_decision_duration); update_param(parameters, ns_ + ".action.longitudinal_distance_buffer", pp.lon_dist_buffer); update_param(parameters, ns_ + ".action.lateral_distance_buffer", pp.lat_dist_buffer); @@ -214,6 +216,74 @@ out_of_lane::OutOfLaneData prepare_out_of_lane_data(const out_of_lane::EgoData & return out_of_lane_data; } +std::optional OutOfLaneModule::calculate_slowdown_pose( + const out_of_lane::EgoData & ego_data, const out_of_lane::OutOfLaneData & out_of_lane_data) +{ + if ( // reset the previous inserted point if the timer expired + previous_slowdown_pose_ && + (clock_->now() - previous_slowdown_time_).seconds() > params_.min_decision_duration) { + previous_slowdown_pose_.reset(); + } + + auto slowdown_pose = out_of_lane::calculate_slowdown_pose(ego_data, out_of_lane_data, params_); + + // reuse previous stop pose if there is no new one or if its velocity is not higher than the new + // one and its arc length is lower + if (slowdown_pose) { // reset the clock when we could calculate a valid slowdown pose + previous_slowdown_time_ = clock_->now(); + } + const auto should_use_previous_pose = [&]() { + if (slowdown_pose && previous_slowdown_pose_) { + const auto arc_length = + motion_utils::calcSignedArcLength(ego_data.trajectory_points, 0LU, slowdown_pose->position); + const auto prev_arc_length = motion_utils::calcSignedArcLength( + ego_data.trajectory_points, 0LU, previous_slowdown_pose_->position); + return prev_arc_length < arc_length; + } + return slowdown_pose && previous_slowdown_pose_; + }(); + if (should_use_previous_pose) { + // if the trajectory changed the prev point is no longer on the trajectory so we project it + const auto new_arc_length = motion_utils::calcSignedArcLength( + ego_data.trajectory_points, 0UL, previous_slowdown_pose_->position); + slowdown_pose = motion_utils::calcInterpolatedPose(ego_data.trajectory_points, new_arc_length); + } + + return slowdown_pose; +} + +void OutOfLaneModule::update_result( + VelocityPlanningResult & result, const std::optional & slowdown_pose, + const out_of_lane::EgoData & ego_data, const out_of_lane::OutOfLaneData & out_of_lane_data) +{ + if (slowdown_pose) { + const auto arc_length = + motion_utils::calcSignedArcLength(ego_data.trajectory_points, 0UL, slowdown_pose->position) - + ego_data.longitudinal_offset_to_first_trajectory_index; + const auto slowdown_velocity = + arc_length <= params_.stop_dist_threshold ? 0.0 : params_.slow_velocity; + previous_slowdown_pose_ = slowdown_pose; + if (slowdown_velocity == 0.0) { + result.stop_points.push_back(slowdown_pose->position); + } else { + result.slowdown_intervals.emplace_back( + slowdown_pose->position, slowdown_pose->position, slowdown_velocity); + } + + planning_factor_interface_->add( + ego_data.trajectory_points, ego_data.pose, *slowdown_pose, PlanningFactor::SLOW_DOWN, + SafetyFactorArray{}); + virtual_wall_marker_creator.add_virtual_walls( + out_of_lane::debug::create_virtual_walls(*slowdown_pose, slowdown_velocity == 0.0, params_)); + virtual_wall_publisher_->publish(virtual_wall_marker_creator.create_markers(clock_->now())); + } else if (std::any_of( + out_of_lane_data.outside_points.begin(), out_of_lane_data.outside_points.end(), + [](const auto & p) { return p.to_avoid; })) { + RCLCPP_WARN( + logger_, "[out_of_lane] Could not insert slowdown point because of deceleration limits"); + } +} + VelocityPlanningResult OutOfLaneModule::plan( [[maybe_unused]] const std::vector & raw_trajectory_points, @@ -231,6 +301,7 @@ VelocityPlanningResult OutOfLaneModule::plan( out_of_lane::calculate_min_stop_and_slowdown_distances( ego_data, *planner_data, previous_slowdown_pose_); prepare_stop_lines_rtree(ego_data, *planner_data, params_.max_arc_length); + ego_data.map_stop_points = planner_data->calculate_map_stop_points(ego_data.trajectory_points); const auto preprocessing_us = stopwatch.toc("preprocessing"); stopwatch.tic("calculate_trajectory_footprints"); @@ -256,7 +327,6 @@ VelocityPlanningResult OutOfLaneModule::plan( const auto calculate_time_collisions_us = stopwatch.toc("calculate_time_collisions"); stopwatch.tic("calculate_times"); - // calculate times out_of_lane::calculate_collisions_to_avoid(out_of_lane_data, ego_data.trajectory_points, params_); const auto calculate_times_us = stopwatch.toc("calculate_times"); @@ -272,64 +342,11 @@ VelocityPlanningResult OutOfLaneModule::plan( return result; } - if ( // reset the previous inserted point if the timer expired - previous_slowdown_pose_ && - (clock_->now() - previous_slowdown_time_).seconds() > params_.min_decision_duration) { - previous_slowdown_pose_.reset(); - } - stopwatch.tic("calculate_slowdown_point"); - auto slowdown_pose = out_of_lane::calculate_slowdown_point(ego_data, out_of_lane_data, params_); + const auto slowdown_pose = calculate_slowdown_pose(ego_data, out_of_lane_data); const auto calculate_slowdown_point_us = stopwatch.toc("calculate_slowdown_point"); - // reuse previous stop pose if there is no new one or if its velocity is not higher than the new - // one and its arc length is lower - if (slowdown_pose) { // reset the clock when we could calculate a valid slowdown pose - previous_slowdown_time_ = clock_->now(); - } - const auto should_use_previous_pose = [&]() { - if (slowdown_pose && previous_slowdown_pose_) { - const auto arc_length = - motion_utils::calcSignedArcLength(ego_data.trajectory_points, 0LU, slowdown_pose->position); - const auto prev_arc_length = motion_utils::calcSignedArcLength( - ego_data.trajectory_points, 0LU, previous_slowdown_pose_->position); - return prev_arc_length < arc_length; - } - return slowdown_pose && previous_slowdown_pose_; - }(); - if (should_use_previous_pose) { - // if the trajectory changed the prev point is no longer on the trajectory so we project it - const auto new_arc_length = motion_utils::calcSignedArcLength( - ego_data.trajectory_points, 0UL, previous_slowdown_pose_->position); - slowdown_pose = motion_utils::calcInterpolatedPose(ego_data.trajectory_points, new_arc_length); - } - if (slowdown_pose) { - const auto arc_length = - motion_utils::calcSignedArcLength(ego_data.trajectory_points, 0UL, slowdown_pose->position) - - ego_data.longitudinal_offset_to_first_trajectory_index; - const auto slowdown_velocity = - arc_length <= params_.stop_dist_threshold ? 0.0 : params_.slow_velocity; - previous_slowdown_pose_ = slowdown_pose; - if (slowdown_velocity == 0.0) { - result.stop_points.push_back(slowdown_pose->position); - } else { - result.slowdown_intervals.emplace_back( - slowdown_pose->position, slowdown_pose->position, slowdown_velocity); - } - - planning_factor_interface_->add( - smoothed_trajectory_points, ego_data.pose, *slowdown_pose, PlanningFactor::SLOW_DOWN, - SafetyFactorArray{}); - virtual_wall_marker_creator.add_virtual_walls( - out_of_lane::debug::create_virtual_walls(*slowdown_pose, slowdown_velocity == 0.0, params_)); - virtual_wall_publisher_->publish(virtual_wall_marker_creator.create_markers(clock_->now())); - } else if (std::any_of( - out_of_lane_data.outside_points.begin(), out_of_lane_data.outside_points.end(), - [](const auto & p) { return p.to_avoid; })) { - RCLCPP_WARN( - logger_, "[out_of_lane] Could not insert slowdown point because of deceleration limits"); - } - + update_result(result, slowdown_pose, ego_data, out_of_lane_data); stopwatch.tic("gen_debug"); const auto markers = out_of_lane::debug::create_debug_marker_array(ego_data, out_of_lane_data, objects, debug_data_); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp index 1e011022ff99e..3a61e9f6f8c32 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp @@ -54,6 +54,13 @@ class OutOfLaneModule : public PluginModuleInterface out_of_lane::EgoData & ego_data, const std::vector & smoothed_trajectory_points, const double max_arc_length); + /// @brief calculate the first slowdown pose (if any) + std::optional calculate_slowdown_pose( + const out_of_lane::EgoData & ego_data, const out_of_lane::OutOfLaneData & out_of_lane_data); + /// @brief update the given planning result and some internal states of the module + void update_result( + VelocityPlanningResult & result, const std::optional & slowdown_pose, + const out_of_lane::EgoData & ego_data, const out_of_lane::OutOfLaneData & out_of_lane_data); out_of_lane::PlannerParam params_{}; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp index 6539ed7f2259c..e6b443c5b7eff 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp @@ -15,6 +15,7 @@ #ifndef TYPES_HPP_ #define TYPES_HPP_ +#include #include #include @@ -66,6 +67,7 @@ struct PlannerParam double precision; // [m] precision when inserting a stop pose in the trajectory double min_decision_duration; // [s] duration needed before a stop or slowdown point can be removed + bool use_map_stop_lines; // if true, try to stop at stop lines defined in the map // ego dimensions used to create its polygon footprint double front_offset; // [m] front offset (from vehicle info) @@ -97,6 +99,7 @@ struct EgoData std::vector trajectory_points; // filtered trajectory starting from the 1st point behind ego geometry_msgs::msg::Pose pose; + double velocity{}; // [m/s] current longitudinal velocity of the ego vehicle size_t first_trajectory_idx{}; // segment index closest to ego on the original trajectory double longitudinal_offset_to_first_trajectory_index{}; // longitudinal offset of ego along the @@ -112,7 +115,9 @@ struct EgoData std::vector trajectory_footprints; // ego footprints along the filtered trajectory - StopLinesRtree stop_lines_rtree; + StopLinesRtree stop_lines_rtree; // rtree with the stop lines for other vehicles + std::vector + map_stop_points; // ego stop points (and their corresponding stop lines) taken from the map }; /// @brief data related to an out of lane trajectory point diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/CHANGELOG.rst index 3b76ad27f07ed..05bf07bb03f20 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/CHANGELOG.rst @@ -2,22 +2,31 @@ Changelog for package autoware_motion_velocity_planner_common_universe ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* feat(out_of_lane): add option to use stop lines defined in the vector map (`#9584 `_) +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix(autoware_motion_velocity_planner_common_universe): check optional before accessing (`#10183 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix(autoware_motion_velocity_planner_common_universe): check optional before accessing (`#10183 `_) * Update polygon_utils.cpp fix bug-prone code * Update polygon_utils.cpp --------- -* feat(autoware_motion_velocity_obstacle\__module): brings Point Cloud handling to this module (`#10112 `_) +* feat(autoware_motion_velocity_obstacle\__module): brings Point Cloud handling to this module (`#10112 `_) pointcloud handling for slowdown and stop module -* fix(motion_velocity_planner_common): fix the calc_possible_min_dist_from_obj_to_traj_poly calculation (`#10059 `_) +* fix(motion_velocity_planner_common): fix the calc_possible_min_dist_from_obj_to_traj_poly calculation (`#10059 `_) * fix(motion_velocity_planner_common): fix the calc_possible_min_dist_from_obj_to_traj_poly calculation * update maintainer --------- -* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) +* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) * feat(motion_velocity_planner): prepare for motion_velocity\__module * update launch --------- @@ -25,7 +34,7 @@ Changelog for package autoware_motion_velocity_planner_common_universe 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -34,28 +43,28 @@ Changelog for package autoware_motion_velocity_planner_common_universe 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -65,9 +74,9 @@ Changelog for package autoware_motion_velocity_planner_common_universe 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -78,31 +87,31 @@ Changelog for package autoware_motion_velocity_planner_common_universe 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(motion_velocity_planner): disable randomly failing test (`#8923 `_) -* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) -* fix(motion_velocity_planner): relax test precision to prevent random failures (`#8799 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* fix(motion_velocity_planner): disable randomly failing test (`#8923 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* fix(motion_velocity_planner): relax test precision to prevent random failures (`#8799 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -111,7 +120,7 @@ Changelog for package autoware_motion_velocity_planner_common_universe * fix formats * keep header and source file name as before --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -146,27 +155,27 @@ Changelog for package autoware_motion_velocity_planner_common_universe * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) * feat(motion_velocity_planner): use polling subscriber for odometry topic * use polling subscribers for more topics * remove blocking mutex lock when processing traffic lights * fix assign after return --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) +* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) * refactor(behavior_velocity_planner_common): add autoware prefix * refactor(behavior_velocity_planner_common): fix run_out module * refactor(behavior_velocity_planner_common): fix for autoware_behavior_velocity_walkway_module * refactor(behavior_velocity_planner_common): remove unnecessary using --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -177,7 +186,7 @@ Changelog for package autoware_motion_velocity_planner_common_universe * fix: test * fix: test --------- -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, mkquda 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/planner_data.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/planner_data.hpp index cd65a26a5a4fc..200e3b4e7279d 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/planner_data.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/planner_data.hpp @@ -27,7 +27,7 @@ #include #include #include -#include +#include #include #include #include @@ -53,6 +53,13 @@ struct TrafficSignalStamped autoware_perception_msgs::msg::TrafficLightGroup signal; }; +struct StopPoint +{ + double ego_trajectory_arc_length{}; // [m] arc length along the ego trajectory + geometry_msgs::msg::Pose + ego_stop_pose; // intersection between the trajectory and a map stop line + lanelet::BasicLineString2d stop_line; // stop line from the map +}; struct TrajectoryPolygonCollisionCheck { double decimate_trajectory_step_length; @@ -153,24 +160,20 @@ struct PlannerData *recent UNKNOWN observation is overwritten as the last non-UNKNOWN observation */ [[nodiscard]] std::optional get_traffic_signal( - const lanelet::Id id, const bool keep_last_observation = false) const - { - const auto & traffic_light_id_map = - keep_last_observation ? traffic_light_id_map_last_observed_ : traffic_light_id_map_raw_; - if (traffic_light_id_map.count(id) == 0) { - return std::nullopt; - } - return std::make_optional(traffic_light_id_map.at(id)); - } - + const lanelet::Id id, const bool keep_last_observation = false) const; + + /// @brief calculate possible stop points along the current trajectory where it intersects with + /// stop lines + /// @param [in] trajectory ego trajectory + /// @return stop points taken from the map + [[nodiscard]] std::vector calculate_map_stop_points( + const std::vector & trajectory) const; + + /// @brief calculate the minimum distance needed by ego to decelerate to the given velocity + /// @param [in] target_velocity [m/s] target velocity + /// @return [m] distance needed to reach the target velocity [[nodiscard]] std::optional calculate_min_deceleration_distance( - const double target_velocity) const - { - return motion_utils::calcDecelDistWithJerkAndAccConstraints( - current_odometry.twist.twist.linear.x, target_velocity, - current_acceleration.accel.accel.linear.x, velocity_smoother_->getMinDecel(), - std::abs(velocity_smoother_->getMinJerk()), velocity_smoother_->getMinJerk()); - } + const double target_velocity) const; size_t find_index( const std::vector & traj_points, const geometry_msgs::msg::Pose & pose) const diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/plugin_module_interface.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/plugin_module_interface.hpp index 8ede2e3686bb6..48f7330070ff9 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/plugin_module_interface.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/plugin_module_interface.hpp @@ -32,8 +32,8 @@ namespace autoware::motion_velocity_planner { -using tier4_planning_msgs::msg::PlanningFactor; -using tier4_planning_msgs::msg::SafetyFactorArray; +using autoware_internal_planning_msgs::msg::PlanningFactor; +using autoware_internal_planning_msgs::msg::SafetyFactorArray; class PluginModuleInterface { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/velocity_planning_result.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/velocity_planning_result.hpp index 4faeb698e2bcd..3b6ab08f181b6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/velocity_planning_result.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/velocity_planning_result.hpp @@ -17,9 +17,9 @@ #include +#include +#include #include -#include -#include #include #include @@ -44,9 +44,9 @@ struct VelocityPlanningResult { std::vector stop_points{}; std::vector slowdown_intervals{}; - std::optional velocity_limit{std::nullopt}; - std::optional velocity_limit_clear_command{ - std::nullopt}; + std::optional velocity_limit{std::nullopt}; + std::optional + velocity_limit_clear_command{std::nullopt}; }; } // namespace autoware::motion_velocity_planner diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml index fe19c60342ced..2d692b504c4cd 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_common_universe - 0.42.0 + 0.43.0 Common functions and interfaces for motion_velocity_planner modules Maxime Clement @@ -20,6 +20,8 @@ autoware_behavior_velocity_planner_common autoware_internal_debug_msgs + autoware_internal_planning_msgs + autoware_lanelet2_extension autoware_motion_utils autoware_object_recognition_utils autoware_perception_msgs diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/planner_data.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/planner_data.cpp index 23e7b35b63a98..057e301e7c22a 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/planner_data.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/planner_data.cpp @@ -14,15 +14,17 @@ #include "autoware/motion_velocity_planner_common_universe/planner_data.hpp" -#include "autoware/motion_velocity_planner_common_universe/polygon_utils.hpp" -#include "autoware/motion_velocity_planner_common_universe/utils.hpp" #include "autoware/object_recognition_utils/predicted_path_utils.hpp" +#include "autoware_lanelet2_extension/utility/query.hpp" #include "autoware_utils/geometry/boost_polygon_utils.hpp" -#include "autoware_perception_msgs/msg/predicted_path.hpp" +#include #include +#include +#include + #include #include #include @@ -68,6 +70,26 @@ std::optional get_predicted_object_pose_from_predicted } } // namespace +std::optional PlannerData::get_traffic_signal( + const lanelet::Id id, const bool keep_last_observation) const +{ + const auto & traffic_light_id_map = + keep_last_observation ? traffic_light_id_map_last_observed_ : traffic_light_id_map_raw_; + if (traffic_light_id_map.count(id) == 0) { + return std::nullopt; + } + return std::make_optional(traffic_light_id_map.at(id)); +} + +std::optional PlannerData::calculate_min_deceleration_distance( + const double target_velocity) const +{ + return motion_utils::calcDecelDistWithJerkAndAccConstraints( + current_odometry.twist.twist.linear.x, target_velocity, + current_acceleration.accel.accel.linear.x, velocity_smoother_->getMinDecel(), + std::abs(velocity_smoother_->getMinJerk()), velocity_smoother_->getMinJerk()); +} + double PlannerData::Object::get_dist_to_traj_poly( const std::vector & decimated_traj_polys) const { @@ -185,4 +207,43 @@ void PlannerData::process_predicted_objects( objects.push_back(std::make_shared(predicted_object)); } } + +std::vector PlannerData::calculate_map_stop_points( + const std::vector & trajectory) const +{ + std::vector stop_points; + if (!route_handler) { + return stop_points; + } + autoware_utils::LineString2d trajectory_ls; + for (const auto & p : trajectory) { + trajectory_ls.emplace_back(p.pose.position.x, p.pose.position.y); + } + const auto candidates = route_handler->getLaneletMapPtr()->laneletLayer.search( + boost::geometry::return_envelope(trajectory_ls)); + for (const auto & candidate : candidates) { + const auto stop_lines = lanelet::utils::query::stopLinesLanelet(candidate); + for (const auto & stop_line : stop_lines) { + const auto stop_line_2d = lanelet::utils::to2D(stop_line).basicLineString(); + autoware_utils::MultiPoint2d intersections; + boost::geometry::intersection(trajectory_ls, stop_line_2d, intersections); + for (const auto & intersection : intersections) { + const auto p = + geometry_msgs::msg::Point().set__x(intersection.x()).set__y(intersection.y()); + const auto stop_line_arc_length = motion_utils::calcSignedArcLength(trajectory, 0UL, p); + StopPoint sp; + sp.ego_trajectory_arc_length = + stop_line_arc_length - vehicle_info_.max_longitudinal_offset_m; + if (sp.ego_trajectory_arc_length < 0.0) { + continue; + } + sp.stop_line = stop_line_2d; + sp.ego_stop_pose = + motion_utils::calcInterpolatedPose(trajectory, sp.ego_trajectory_arc_length); + stop_points.push_back(sp); + } + } + } + return stop_points; +} } // namespace autoware::motion_velocity_planner diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/CHANGELOG.rst index 9e4b1696905de..e493133552779 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/CHANGELOG.rst @@ -2,12 +2,21 @@ Changelog for package autoware_motion_velocity_planner_node_universe ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* feat: adaption to ROS nodes guidelines about directory structure (`#10268 `_) +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, NorahXiong, Ryohsuke Mitsudome, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* chore(motion_velocity_planner_universe): fix build depends (`#10122 `_) -* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* chore(motion_velocity_planner_universe): fix build depends (`#10122 `_) +* feat(planning_test_manager): abstract message-specific functions (`#9882 `_) * abstract message-specific functions * include necessary header * adapt velocity_smoother to new test manager @@ -43,7 +52,7 @@ Changelog for package autoware_motion_velocity_planner_node_universe * Odometries -> Odometry --------- Co-authored-by: Takayuki Murooka -* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) +* feat(motion_velocity_planner): common implementation for motion_velocity_obstacle\__module (`#10035 `_) * feat(motion_velocity_planner): prepare for motion_velocity\__module * update launch --------- @@ -51,9 +60,9 @@ Changelog for package autoware_motion_velocity_planner_node_universe 0.41.2 (2025-02-19) ------------------- -* chore(motion_velocity_planner_universe): fix build depends (`#10122 `_) (`#10139 `_) -* chore(motion_velocity_planner_universe): fix build depends (`#10122 `_) -* chore: bump version to 0.41.1 (`#10088 `_) +* chore(motion_velocity_planner_universe): fix build depends (`#10122 `_) (`#10139 `_) +* chore(motion_velocity_planner_universe): fix build depends (`#10122 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Mamoru Sobue, Mete Fatih Cırıt, Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -62,29 +71,29 @@ Changelog for package autoware_motion_velocity_planner_node_universe 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) +* feat(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (`#9942 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -107,7 +116,7 @@ Changelog for package autoware_motion_velocity_planner_node_universe * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -118,9 +127,9 @@ Changelog for package autoware_motion_velocity_planner_node_universe 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -143,7 +152,7 @@ Changelog for package autoware_motion_velocity_planner_node_universe * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -154,11 +163,11 @@ Changelog for package autoware_motion_velocity_planner_node_universe 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) -* perf(motion_velocity_planner): fix heavy resampling and transform lookup (`#8839 `_) -* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* perf(motion_velocity_planner): fix heavy resampling and transform lookup (`#8839 `_) +* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) * tmp save. * publish diagnostics. * move clearDiagnostics func to head @@ -175,33 +184,33 @@ Changelog for package autoware_motion_velocity_planner_node_universe Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) * not resample debug_trajectories if not published * update dependant packages --------- -* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) -* fix(motion_planning): fix processing time topic names (`#7885 `_) -* fix(motion_velocity_planner): use the slowdown velocity (instead of 0) (`#7840 `_) -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) +* fix(motion_planning): fix processing time topic names (`#7885 `_) +* fix(motion_velocity_planner): use the slowdown velocity (instead of 0) (`#7840 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) set single depth sensor data qos for pointlcoud polling subscribers -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* 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 @@ -213,22 +222,22 @@ Changelog for package autoware_motion_velocity_planner_node_universe * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) -* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) * feat(motion_velocity_planner): use polling subscriber for odometry topic * use polling subscribers for more topics * remove blocking mutex lock when processing traffic lights * fix assign after return --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -239,7 +248,7 @@ Changelog for package autoware_motion_velocity_planner_node_universe * fix: test * fix: test --------- -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Tiankui Xian, Yutaka Kondo, Zulfaqar Azmi, mkquda 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/README.md index ef09e856eb72b..3d3ea2ff172d1 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/README.md +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/README.md @@ -30,10 +30,10 @@ This means that to stop before a wall, a stop point is inserted in the trajector ## Output topics -| Name | Type | Description | -| ----------------------------------------- | ---------------------------------------------- | -------------------------------------------------- | -| `~/output/trajectory` | autoware_planning_msgs::msg::Trajectory | Ego trajectory with updated velocity profile | -| `~/output/planning_factors/` | tier4_planning_msgs::msg::PlanningFactorsArray | factors causing change in the ego velocity profile | +| Name | Type | Description | +| ----------------------------------------- | ---------------------------------------------------------- | -------------------------------------------------- | +| `~/output/trajectory` | autoware_planning_msgs::msg::Trajectory | Ego trajectory with updated velocity profile | +| `~/output/planning_factors/` | autoware_internal_planning_msgs::msg::PlanningFactorsArray | factors causing change in the ego velocity profile | ## Services @@ -53,5 +53,5 @@ In addition, the following parameters should be provided to the node: - [nearest search parameters](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/scenario_planning/common/nearest_search.param.yaml); - [vehicle info parameters](https://github.com/autowarefoundation/sample_vehicle_launch/blob/main/sample_vehicle_description/config/vehicle_info.param.yaml); - [common planning parameters](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/scenario_planning/common/common.param.yaml); -- [smoother parameters](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_velocity_smoother/#parameters) +- [smoother parameters](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_velocity_smoother/#parameters) - Parameters of each plugin that will be loaded. diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/docs/MotionVelocityPlanner-InternalInterface.drawio.svg b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/docs/MotionVelocityPlanner-InternalInterface.drawio.svg index ea3b7ad99d4e5..14180abfcbbd8 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/docs/MotionVelocityPlanner-InternalInterface.drawio.svg +++ 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41a2ef17a6edf..7a330c414c0f6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_node_universe - 0.42.0 + 0.43.0 Node of the motion_velocity_planner Maxime Clement @@ -19,6 +19,7 @@ rosidl_default_generators autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_map_msgs autoware_motion_utils autoware_motion_velocity_planner_common_universe diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/src/node.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/src/node.hpp index 58d9687ebfa8c..b2d75ec4d4925 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/src/node.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/src/node.hpp @@ -26,6 +26,8 @@ #include #include +#include +#include #include #include #include @@ -33,8 +35,6 @@ #include #include #include -#include -#include #include #include @@ -48,12 +48,12 @@ namespace autoware::motion_velocity_planner { +using autoware_internal_planning_msgs::msg::VelocityLimit; +using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand; using autoware_map_msgs::msg::LaneletMapBin; using autoware_motion_velocity_planner_node_universe::srv::LoadPlugin; using autoware_motion_velocity_planner_node_universe::srv::UnloadPlugin; using autoware_planning_msgs::msg::Trajectory; -using tier4_planning_msgs::msg::VelocityLimit; -using tier4_planning_msgs::msg::VelocityLimitClearCommand; using TrajectoryPoints = std::vector; class MotionVelocityPlannerNode : public rclcpp::Node diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/test/src/test_node_interface.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/test/src/test_node_interface.cpp index 6ce5e3e506262..9f018e872a0f0 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/test/src/test_node_interface.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/test/src/test_node_interface.cpp @@ -15,8 +15,8 @@ #include "node.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst index 296f4a702fe78..9c31a0d200dae 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_bezier_sampler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,28 +22,28 @@ Changelog for package autoware_bezier_sampler 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(goal_planner): add bezier based pull over planner (`#9642 `_) +* feat(goal_planner): add bezier based pull over planner (`#9642 `_) * Contributors: Fumiya Watanabe, Mamoru Sobue 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package autoware_bezier_sampler 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,7 +66,7 @@ Changelog for package autoware_bezier_sampler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Maxime CLEMENT, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml index 3040a39cd6007..4e534e2a98e04 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml @@ -1,7 +1,7 @@ autoware_bezier_sampler - 0.42.0 + 0.43.0 Package to sample trajectories using Bézier curves Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst index a52a36cc41b30..6d0ce05ea9e3e 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_frenet_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +25,7 @@ Changelog for package autoware_frenet_planner 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(lane_change): using frenet planner to generate lane change path when ego near terminal (`#9767 `_) +* feat(lane_change): using frenet planner to generate lane change path when ego near terminal (`#9767 `_) * frenet planner * minor refactoring * adding parameter @@ -48,22 +54,22 @@ Changelog for package autoware_frenet_planner 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -73,9 +79,9 @@ Changelog for package autoware_frenet_planner 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -86,15 +92,15 @@ Changelog for package autoware_frenet_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_frenet_planner): fix build error (`#8807 `_) +* fix(autoware_frenet_planner): fix build error (`#8807 `_) fix:build error -* fix(autoware_frenet_planner): fix unusedFunction (`#8788 `_) +* fix(autoware_frenet_planner): fix unusedFunction (`#8788 `_) fix: unusedFunction -* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Hayate TOBA, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_frenet_planner/package.xml b/planning/sampling_based_planner/autoware_frenet_planner/package.xml index 90b22b25d7cfa..50def764781ab 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/package.xml +++ b/planning/sampling_based_planner/autoware_frenet_planner/package.xml @@ -1,7 +1,7 @@ autoware_frenet_planner - 0.42.0 + 0.43.0 The autoware_frenet_planner package for trajectory generation in Frenet frame Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst index 7ef3627b472ab..9719ac3751482 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_path_sampler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,31 +26,31 @@ Changelog for package autoware_path_sampler 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(sampling_based_planner)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in sampling_based_planner (`#9916 `_) -* feat(motion_planning): use StringStamped in autoware_internal_debug_msgs (`#9742 `_) +* feat(sampling_based_planner)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in sampling_based_planner (`#9916 `_) +* feat(motion_planning): use StringStamped in autoware_internal_debug_msgs (`#9742 `_) feat(motion planning): use StringStamped in autoware_internal_debug_msgs * Contributors: Fumiya Watanabe, Takayuki Murooka, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -54,9 +60,9 @@ Changelog for package autoware_path_sampler 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -67,23 +73,23 @@ Changelog for package autoware_path_sampler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(autoware_path_sampler): fix unusedFunction (`#8730 `_) +* fix(autoware_path_sampler): fix unusedFunction (`#8730 `_) fix:unusedFunction -* fix(autoware_path_sampler): fix passedByValue (`#8216 `_) +* fix(autoware_path_sampler): fix passedByValue (`#8216 `_) fix:passedByValue -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_path_sampler): fix unusedVariable warning (`#7584 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_path_sampler): fix unusedVariable warning (`#7584 `_) fix unusedVariable warning -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* feat(sampling_based_planner): use polling subscribers (`#7394 `_) -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* feat(sampling_based_planner): use polling subscribers (`#7394 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -118,7 +124,7 @@ Changelog for package autoware_path_sampler * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml index 2f43b1d424c7e..6d254ec40ebd3 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml @@ -2,7 +2,7 @@ autoware_path_sampler - 0.42.0 + 0.43.0 Package for the sampling-based path planner Maxime CLEMENT Apache License 2.0 diff --git a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst index 9b7d43ebdffa3..076f9bb2d685f 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_sampler_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -23,23 +29,23 @@ Changelog for package autoware_sampler_common 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - planning (`#9570 `_) -* refactor: correct spelling (`#9528 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -49,9 +55,9 @@ Changelog for package autoware_sampler_common 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -62,12 +68,12 @@ Changelog for package autoware_sampler_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_sampler_common/package.xml b/planning/sampling_based_planner/autoware_sampler_common/package.xml index 1217c0c739da3..e2dc87d2bd64b 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/package.xml +++ b/planning/sampling_based_planner/autoware_sampler_common/package.xml @@ -1,7 +1,7 @@ autoware_sampler_common - 0.42.0 + 0.43.0 Common classes and functions for sampling based planners Maxime CLEMENT Maxime CLEMENT diff --git a/sensing/autoware_cuda_pointcloud_preprocessor/CHANGELOG.rst b/sensing/autoware_cuda_pointcloud_preprocessor/CHANGELOG.rst new file mode 100644 index 0000000000000..67495ea3cc315 --- /dev/null +++ b/sensing/autoware_cuda_pointcloud_preprocessor/CHANGELOG.rst @@ -0,0 +1,80 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_cuda_pointcloud_preprocessor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.43.0 (2025-03-21) +------------------- +* fix: update tool version +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore(autoware_cuda_pointcloud_preprocessor): add maintainer (`#10297 `_) +* feat(autoware_cuda_pointcloud_preprocessor): a cuda-accelerated pointcloud preprocessor (`#9454 `_) + * feat: moved the cuda pointcloud preprocessor and organized from a personal repository + * chore: fixed incorrect links + * chore: fixed dead links pt2 + * chore: fixed spelling errors + * chore: json schema fixes + * chore: removed comments and filled the fields + * fix: fixed the adapter for the case when the number of points in the pointcloud changes after the first iteration + * feat: used the cuda host allocators for aster host to device copies + * Update sensing/autoware_cuda_pointcloud_preprocessor/docs/cuda-pointcloud-preprocessor.md + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu + Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> + * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu + Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> + * style(pre-commit): autofix + * Update sensing/autoware_cuda_pointcloud_preprocessor/docs/cuda-pointcloud-preprocessor.md + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_cuda_pointcloud_preprocessor/README.md + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_cuda_pointcloud_preprocessor/README.md + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * style(pre-commit): autofix + * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu + Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> + * style(pre-commit): autofix + * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu + Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> + * style(pre-commit): autofix + * chore: fixed code compilation to reflect Hirabayashi-san's memory pool proposal + * feat: generalized the number of crop boxes. For two at least, the new approach is actually faster + * chore: updated config, schema, and handled the null case in a specialized way + * feat: moving the pointcloud organization into gpu + * feat: reimplemented the organized pointcloud adapter in cuda. the only bottleneck is the H->D copy + * chore: removed redundant ternay operator + * chore: added a temporary memory check. the check will be unified in a later PR + * chore: refactored the structure to avoid large files + * chore: updated the copyright year + * fix: fixed a bug in the undistortion kernel setup. validated it comparing it with the baseline + * chore: removed unused packages + * chore: removed mentions of the removed adapter + * chore: fixed missing autoware prefix + * fix: missing assignment in else branch + * chore: added cuda/nvcc debug flags on debug builds + * chore: refactored parameters for the undistortion settings + * chore: removed unused headers + * chore: changed default crop box to no filtering at all + * feat: added missing restrict keyword + * chore: spells + * chore: removed default destructor + * chore: ocd activated (spelling) + * chore: fixed the schema + * chore: improved readibility + * chore: added dummy crop box + * chore: added new repositories to ansible + * chore: CI/CD + * chore: more CI/CD + * chore: mode CI/CD. some linters are conflicting + * style(pre-commit): autofix + * chore: ignoring uncrustify + * chore: ignoring more uncrustify + * chore: missed one more uncrustify exception + * chore: added meta dep + --------- + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Amadeusz Szymko +* Contributors: Amadeusz Szymko, Hayato Mizushima, Kenzo Lobos Tsunekawa diff --git a/sensing/autoware_cuda_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_cuda_pointcloud_preprocessor/CMakeLists.txt new file mode 100644 index 0000000000000..3a77c27ce5f8b --- /dev/null +++ b/sensing/autoware_cuda_pointcloud_preprocessor/CMakeLists.txt @@ -0,0 +1,97 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_cuda_pointcloud_preprocessor) + +find_package(ament_cmake_auto REQUIRED) +find_package(CUDA) + +if(NOT ${CUDA_FOUND}) + message(WARNING "cuda was not found, so the autoware_cuda_pointcloud_preprocessor package will not be built.") + return() +elseif(CMAKE_BUILD_TYPE STREQUAL "Debug") + set(CMAKE_CUDA_FLAGS ${CMAKE_CUDA_FLAGS} "-g -G") + set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "-g -G") +endif() + +ament_auto_find_build_dependencies() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function) +endif() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +include_directories( + include + SYSTEM + ${CUDA_INCLUDE_DIRS} +) + +list(APPEND CUDA_NVCC_FLAGS "--expt-relaxed-constexpr -diag-suppress 20012") # cSpell: ignore expt + +cuda_add_library(cuda_pointcloud_preprocessor_lib SHARED + src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu + src/cuda_pointcloud_preprocessor/common_kernels.cu + src/cuda_pointcloud_preprocessor/organize_kernels.cu + src/cuda_pointcloud_preprocessor/outlier_kernels.cu + src/cuda_pointcloud_preprocessor/undistort_kernels.cu +) + +target_link_libraries(cuda_pointcloud_preprocessor_lib + ${autoware_pointcloud_preprocessor_TARGETS} +) + +target_include_directories(cuda_pointcloud_preprocessor_lib SYSTEM PRIVATE + ${autoware_pointcloud_preprocessor_INCLUDE_DIRS} + ${autoware_point_types_INCLUDE_DIRS} + ${cuda_blackboard_INCLUDE_DIRS} + ${diagnostic_msgs_INCLUDE_DIRS} + ${geometry_msgs_INCLUDE_DIRS} + ${rclcpp_INCLUDE_DIRS} + ${rclcpp_components_INCLUDE_DIRS} + ${rcl_interfaces_INCLUDE_DIRS} + ${sensor_msgs_INCLUDE_DIRS} + ${tf2_INCLUDE_DIRS} + ${tf2_msgs_INCLUDE_DIRS} +) + + +# Targets +ament_auto_add_library(cuda_pointcloud_preprocessor SHARED + src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor_node.cpp +) + +target_link_libraries(cuda_pointcloud_preprocessor + ${CUDA_LIBRARIES} + cuda_pointcloud_preprocessor_lib +) + +rclcpp_components_register_node(cuda_pointcloud_preprocessor + PLUGIN "autoware::cuda_pointcloud_preprocessor::CudaPointcloudPreprocessorNode" + EXECUTABLE cuda_pointcloud_preprocessor_node +) + +install(DIRECTORY launch config + DESTINATION share/${PROJECT_NAME} +) + +ament_auto_package() + +# Set ROS_DISTRO macros +set(ROS_DISTRO $ENV{ROS_DISTRO}) +if(${ROS_DISTRO} STREQUAL "rolling") + add_compile_definitions(ROS_DISTRO_ROLLING) +elseif(${ROS_DISTRO} STREQUAL "foxy") + add_compile_definitions(ROS_DISTRO_FOXY) +elseif(${ROS_DISTRO} STREQUAL "galactic") + add_compile_definitions(ROS_DISTRO_GALACTIC) +elseif(${ROS_DISTRO} STREQUAL "humble") + add_compile_definitions(ROS_DISTRO_HUMBLE) +endif() diff --git a/sensing/autoware_cuda_pointcloud_preprocessor/README.md b/sensing/autoware_cuda_pointcloud_preprocessor/README.md new file mode 100644 index 0000000000000..0fa5ab7e7c65a --- /dev/null +++ b/sensing/autoware_cuda_pointcloud_preprocessor/README.md @@ -0,0 +1,19 @@ +# autoware_cuda_pointcloud_preprocessor + +## Purpose + +The pointcloud preprocessing implemented in `autoware_pointcloud_preprocessor` has been thoroughly tested in autoware. However, the latency it introduces does not scale well with modern LiDAR devices due to the high number of points they introduce. + +To alleviate this issue, this package reimplements most of the pipeline presented in `autoware_pointcloud_preprocessor` leveraging the use of GPGPUs. In particular, this package makes use of CUDA to provide accelerated versions of the already established implementations, while also maintaining compatibility with normal ROS nodes/topics. + + @@ -13,6 +15,8 @@ + + diff --git a/system/autoware_dummy_infrastructure/package.xml b/system/autoware_dummy_infrastructure/package.xml index f87a614f67921..cb326498bba99 100644 --- a/system/autoware_dummy_infrastructure/package.xml +++ b/system/autoware_dummy_infrastructure/package.xml @@ -2,10 +2,14 @@ autoware_dummy_infrastructure - 0.42.0 + 0.43.0 autoware_dummy_infrastructure Ryohsuke Mitsudome Junya Sasaki + Kosuke Takeuchi + Takeshi Miura + Akihisa Nagata + Apache License 2.0 ament_cmake_auto @@ -13,6 +17,8 @@ libboost-dev + autoware_internal_planning_msgs + autoware_utils rclcpp rclcpp_components tier4_v2x_msgs diff --git a/system/autoware_dummy_infrastructure/schema/dummy_infrastructure.schema.json b/system/autoware_dummy_infrastructure/schema/dummy_infrastructure.schema.json index 697ec01d31a64..430e6795bd219 100644 --- a/system/autoware_dummy_infrastructure/schema/dummy_infrastructure.schema.json +++ b/system/autoware_dummy_infrastructure/schema/dummy_infrastructure.schema.json @@ -29,12 +29,27 @@ "approval": { "type": "boolean", "default": "false", - "description": "set approval filed to ros param" + "description": "Set approval field to ros param" }, "is_finalized": { "type": "boolean", "default": "false", "description": "Stop at stop_line if finalization isn't completed" + }, + "auto_approval_mode": { + "type": "boolean", + "default": "false", + "description": "Automatically approve commands when vehicle has stopped near a virtual traffic light" + }, + "stop_distance_threshold": { + "type": "number", + "default": "1.0", + "description": "Distance threshold to determine if the vehicle is near a stop line [m]" + }, + "stop_velocity_threshold": { + "type": "number", + "default": "0.1", + "description": "Velocity threshold to determine if the vehicle has stopped [m/s]" } }, "required": [ @@ -43,7 +58,10 @@ "use_command_state", "instrument_id", "approval", - "is_finalized" + "is_finalized", + "auto_approval_mode", + "stop_distance_threshold", + "stop_velocity_threshold" ], "additionalProperties": false } diff --git a/system/autoware_dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp b/system/autoware_dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp index 2f1500e7db1e0..acaacc90b07df 100644 --- a/system/autoware_dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp +++ b/system/autoware_dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp @@ -16,8 +16,13 @@ #include +#include +#include +#include #include +#include #include +#include #include using namespace std::literals; @@ -46,7 +51,7 @@ bool update_param( return true; } -boost::optional findCommand( +std::optional findCommand( const InfrastructureCommandArray & command_array, const std::string & instrument_id, const bool use_first_command, const bool use_command_state) { @@ -72,12 +77,44 @@ boost::optional findCommand( found_flag = true; } } - if (found_flag) { - return array; - } else { - return {}; + + return found_flag ? std::optional{array} : std::nullopt; +} + +std::optional calcClosestStopLineDistance( + const PlanningFactorArray::ConstSharedPtr & planning_factors) +{ + if (!planning_factors || planning_factors->factors.empty()) { + return std::nullopt; + } + + const auto vtl_it = std::find_if( + planning_factors->factors.begin(), planning_factors->factors.end(), + [](const auto & factor) { return factor.module == "virtual_traffic_light"; }); + + if (vtl_it == planning_factors->factors.end()) { + return std::nullopt; + } + + std::vector distances; + distances.reserve(planning_factors->factors.size() * 2); + + for (const auto & factor : planning_factors->factors) { + if (factor.module == "virtual_traffic_light") { + for (const auto & control_point : factor.control_points) { + distances.push_back(std::abs(control_point.distance)); + } + } + } + + if (distances.empty()) { + return std::nullopt; } + + const auto min_it = std::min_element(distances.begin(), distances.end()); + return *min_it; } + } // namespace DummyInfrastructureNode::DummyInfrastructureNode(const rclcpp::NodeOptions & node_options) @@ -95,11 +132,9 @@ DummyInfrastructureNode::DummyInfrastructureNode(const rclcpp::NodeOptions & nod node_param_.instrument_id = declare_parameter("instrument_id"); node_param_.approval = declare_parameter("approval"); node_param_.is_finalized = declare_parameter("is_finalized"); - - // Subscriber - sub_command_array_ = create_subscription( - "~/input/command_array", rclcpp::QoS{1}, - std::bind(&DummyInfrastructureNode::onCommandArray, this, _1)); + node_param_.auto_approval_mode = declare_parameter("auto_approval_mode", false); + node_param_.stop_distance_threshold = declare_parameter("stop_distance_threshold", 1.0); + node_param_.stop_velocity_threshold = declare_parameter("stop_velocity_threshold", 0.1); // Publisher pub_state_array_ = create_publisher("~/output/state_array", 1); @@ -110,17 +145,12 @@ DummyInfrastructureNode::DummyInfrastructureNode(const rclcpp::NodeOptions & nod this, get_clock(), update_period_ns, std::bind(&DummyInfrastructureNode::onTimer, this)); } -void DummyInfrastructureNode::onCommandArray(const InfrastructureCommandArray::ConstSharedPtr msg) -{ - if (!msg->commands.empty()) { - command_array_ = msg; - } -} - rcl_interfaces::msg::SetParametersResult DummyInfrastructureNode::onSetParam( const std::vector & params) { rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + result.reason = "success"; try { // Copy to local variable @@ -133,17 +163,23 @@ rcl_interfaces::msg::SetParametersResult DummyInfrastructureNode::onSetParam( update_param(params, "instrument_id", p.instrument_id); update_param(params, "approval", p.approval); update_param(params, "is_finalized", p.is_finalized); + update_param(params, "auto_approval_mode", p.auto_approval_mode); + update_param(params, "stop_distance_threshold", p.stop_distance_threshold); + update_param(params, "stop_velocity_threshold", p.stop_velocity_threshold); // Copy back to member variable node_param_ = p; } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) { result.successful = false; result.reason = e.what(); - return result; + } catch (const std::exception & e) { + result.successful = false; + result.reason = "Exception occurred: " + std::string(e.what()); + } catch (...) { + result.successful = false; + result.reason = "Unknown exception occurred"; } - result.successful = true; - result.reason = "success"; return result; } @@ -154,11 +190,33 @@ bool DummyInfrastructureNode::isDataReady() return false; } + if (!planning_factors_) { + RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 1000, "waiting for planning_factors msg..."); + return false; + } + + if (!current_odometry_) { + RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 1000, "waiting for odometry msg..."); + return false; + } + return true; } +std::optional DummyInfrastructureNode::getCurrentCommandId() const +{ + if (!command_array_ || command_array_->commands.empty()) { + return std::nullopt; + } + return command_array_->commands.front().id; +} + void DummyInfrastructureNode::onTimer() { + command_array_ = sub_command_array_.take_data(); + planning_factors_ = sub_planning_factors_.take_data(); + current_odometry_ = sub_odometry_.take_data(); + if (!isDataReady()) { return; } @@ -174,17 +232,31 @@ void DummyInfrastructureNode::onTimer() state.stamp = get_clock()->now(); state.id = node_param_.instrument_id; state.type = "dummy_infrastructure"; - state.approval = false; + state.approval = node_param_.approval; state.is_finalized = node_param_.is_finalized; state_array.states.push_back(state); } else { - for (auto command : found_command_array->commands) { - VirtualTrafficLightState state; + const bool is_stopped = + std::abs(current_odometry_->twist.twist.linear.x) < node_param_.stop_velocity_threshold; + const auto min_distance_opt = calcClosestStopLineDistance(planning_factors_); + const bool is_near_stop_line = + min_distance_opt && *min_distance_opt <= node_param_.stop_distance_threshold; + + for (const auto & command : found_command_array->commands) { + const auto [command_approval, command_is_finalized] = + checkApprovalCommand(command.id, is_stopped, is_near_stop_line); + if (command_approval && command_is_finalized) { + if (approved_command_ids_.find(command.id) == approved_command_ids_.end()) { + approved_command_ids_.insert(command.id); + RCLCPP_INFO(get_logger(), "Approved new command ID %s", command.id.c_str()); + } + } + VirtualTrafficLightState state{}; state.stamp = get_clock()->now(); state.id = command.id; state.type = command.type; - state.approval = node_param_.approval; - state.is_finalized = node_param_.is_finalized; + state.approval = command_approval; + state.is_finalized = command_is_finalized; state_array.states.push_back(state); } } @@ -192,6 +264,27 @@ void DummyInfrastructureNode::onTimer() pub_state_array_->publish(state_array); } +std::pair DummyInfrastructureNode::checkApprovalCommand( + const std::string & command_id, const bool is_stopped, const bool is_near_stop_line) const +{ + if (!node_param_.auto_approval_mode) { + return {node_param_.approval, node_param_.is_finalized}; + } + + if (approved_command_ids_.find(command_id) != approved_command_ids_.end()) { + return {true, true}; + } + + if (is_stopped && is_near_stop_line) { + if (approved_command_ids_.find(command_id) == approved_command_ids_.end()) { + RCLCPP_INFO(get_logger(), "Command ID %s meets approval conditions", command_id.c_str()); + } + return {true, true}; + } + + return {false, false}; +} + } // namespace autoware::dummy_infrastructure #include diff --git a/system/autoware_duplicated_node_checker/CHANGELOG.rst b/system/autoware_duplicated_node_checker/CHANGELOG.rst index add516bb100eb..594a1ff96376c 100644 --- a/system/autoware_duplicated_node_checker/CHANGELOG.rst +++ b/system/autoware_duplicated_node_checker/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_duplicated_node_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,7 +22,7 @@ Changelog for package autoware_duplicated_node_checker 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `duplicated_node_checker` (`#9970 `_) +* feat: apply `autoware\_` prefix for `duplicated_node_checker` (`#9970 `_) * feat(duplicated_node_checker): apply `autoware\_` prefix (see below): Note: * In this commit, I did not organize a folder structure. @@ -39,23 +45,23 @@ Changelog for package autoware_duplicated_node_checker 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* feat(duplicated_node_checker): show the node name on the terminal (`#9609 `_) -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* feat(duplicated_node_checker): show the node name on the terminal (`#9609 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - system (`#9573 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -65,9 +71,9 @@ Changelog for package autoware_duplicated_node_checker 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -78,10 +84,10 @@ Changelog for package autoware_duplicated_node_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(duplicated_node_checker): fix unusedFunction (`#8579 `_) +* fix(duplicated_node_checker): fix unusedFunction (`#8579 `_) fix: unusedFunction Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* feat(duplicated_node_checker): add duplicate nodes to ignore (`#7959 `_) +* feat(duplicated_node_checker): add duplicate nodes to ignore (`#7959 `_) * feat: add duplicate nodes to ignore * remove talker * newline @@ -94,12 +100,12 @@ Changelog for package autoware_duplicated_node_checker 0.26.0 (2024-04-03) ------------------- -* chore(duplicate_node_checker): print duplication name (`#6488 `_) -* feat(duplicated_node_checker): add duplicated node names to msg (`#5382 `_) +* chore(duplicate_node_checker): print duplication name (`#6488 `_) +* feat(duplicated_node_checker): add duplicated node names to msg (`#5382 `_) * add duplicated node names to msg * align with launcher repository --------- -* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) +* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) * add implementation for duplicated node checking * update the default parameters of system_error_monitor to include results from duplication check * style(pre-commit): autofix diff --git a/system/autoware_duplicated_node_checker/package.xml b/system/autoware_duplicated_node_checker/package.xml index 01e0f81b17f8b..5872b8da2a17f 100644 --- a/system/autoware_duplicated_node_checker/package.xml +++ b/system/autoware_duplicated_node_checker/package.xml @@ -2,7 +2,7 @@ autoware_duplicated_node_checker - 0.42.0 + 0.43.0 A package to find out nodes with common names Shumpei Wakabayashi yliuhb diff --git a/system/autoware_hazard_status_converter/CHANGELOG.rst b/system/autoware_hazard_status_converter/CHANGELOG.rst index d5045fd463a28..434cb185a5e41 100644 --- a/system/autoware_hazard_status_converter/CHANGELOG.rst +++ b/system/autoware_hazard_status_converter/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_hazard_status_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,28 +25,28 @@ Changelog for package autoware_hazard_status_converter 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `diagnostic_graph_utils` (`#9968 `_) -* feat: apply `autoware\_` prefix for `hazard_status_converter` (`#9971 `_) +* feat: apply `autoware\_` prefix for `diagnostic_graph_utils` (`#9968 `_) +* feat: apply `autoware\_` prefix for `hazard_status_converter` (`#9971 `_) * Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - system (`#9573 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(hazard_status_converter): hazard status converter subscribe emergency holding (`#9287 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(hazard_status_converter): hazard status converter subscribe emergency holding (`#9287 `_) * feat: add subscriber for emergency_holding * modify: fix value name * style(pre-commit): autofix @@ -49,8 +55,8 @@ Changelog for package autoware_hazard_status_converter --------- 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> -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,9 +66,9 @@ Changelog for package autoware_hazard_status_converter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -73,12 +79,12 @@ Changelog for package autoware_hazard_status_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: remake diagnostic graph packages (`#6715 `_) -* fix(hazard_status_converter): check current operation mode (`#6733 `_) +* feat: remake diagnostic graph packages (`#6715 `_) +* fix(hazard_status_converter): check current operation mode (`#6733 `_) * fix: hazard status converter * fix: topic name and modes * fix check target mode @@ -90,6 +96,6 @@ Changelog for package autoware_hazard_status_converter 0.26.0 (2024-04-03) ------------------- -* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) -* feat(hazard_status_converter): add package (`#6428 `_) +* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) +* feat(hazard_status_converter): add package (`#6428 `_) * Contributors: Takagi, Isamu diff --git a/system/autoware_hazard_status_converter/package.xml b/system/autoware_hazard_status_converter/package.xml index 767fa2e5d08e2..2daea29f9fafa 100644 --- a/system/autoware_hazard_status_converter/package.xml +++ b/system/autoware_hazard_status_converter/package.xml @@ -2,7 +2,7 @@ autoware_hazard_status_converter - 0.42.0 + 0.43.0 The autoware_hazard_status_converter package Takagi, Isamu Junya Sasaki diff --git a/system/autoware_mrm_comfortable_stop_operator/CHANGELOG.rst b/system/autoware_mrm_comfortable_stop_operator/CHANGELOG.rst index 27fce90099ce5..56ab64275a22f 100644 --- a/system/autoware_mrm_comfortable_stop_operator/CHANGELOG.rst +++ b/system/autoware_mrm_comfortable_stop_operator/CHANGELOG.rst @@ -2,15 +2,22 @@ Changelog for package autoware_mrm_comfortable_stop_operator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* Contributors: Hayato Mizushima, Ryohsuke Mitsudome, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +26,7 @@ Changelog for package autoware_mrm_comfortable_stop_operator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `mrm_comfortable_stop_operator` (`#10011 `_) +* feat: apply `autoware\_` prefix for `mrm_comfortable_stop_operator` (`#10011 `_) * feat(mrm_comfortable_stop_operator): apply `autoware\_` prefix (see below): Note: * In this commit, I did not organize a folder structure. @@ -38,26 +45,26 @@ Changelog for package autoware_mrm_comfortable_stop_operator 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - system (`#9573 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(mrm_comfortable_stop_operator): add updateParam for mrm comfortable stop (`#9353 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(mrm_comfortable_stop_operator): add updateParam for mrm comfortable stop (`#9353 `_) * add updateParam for mrm comfortable stop * remove abs since it is not necessary --------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -67,9 +74,9 @@ Changelog for package autoware_mrm_comfortable_stop_operator 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -80,20 +87,20 @@ Changelog for package autoware_mrm_comfortable_stop_operator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(mrm_comfortable_stop_operator): remove unused main file (`#7191 `_) +* chore(mrm_comfortable_stop_operator): remove unused main file (`#7191 `_) * Contributors: Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) +* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) chore(mrm_emergency_stop_operator): add a maintainer for mrm operator packages -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -101,19 +108,19 @@ Changelog for package autoware_mrm_comfortable_stop_operator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators * ci(pre-commit): autofix * fix(mrm_emergency_stop_operator): remove os import * fix(mrm_emergency_stop_operator): remove unused packages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers diff --git a/system/autoware_mrm_comfortable_stop_operator/README.md b/system/autoware_mrm_comfortable_stop_operator/README.md index dffa28f1dfa49..88a23c0126cb2 100644 --- a/system/autoware_mrm_comfortable_stop_operator/README.md +++ b/system/autoware_mrm_comfortable_stop_operator/README.md @@ -16,11 +16,11 @@ MRM comfortable stop operator is a node that generates comfortable stop commands ### Output -| Name | Type | Description | -| -------------------------------------- | ----------------------------------------------------- | ---------------------------- | -| `~/output/mrm/comfortable_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | MRM execution status | -| `~/output/velocity_limit` | `tier4_planning_msgs::msg::VelocityLimit` | Velocity limit command | -| `~/output/velocity_limit/clear` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command | +| Name | Type | Description | +| -------------------------------------- | ----------------------------------------------------------------- | ---------------------------- | +| `~/output/mrm/comfortable_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | MRM execution status | +| `~/output/velocity_limit` | `autoware_internal_planning_msgs::msg::VelocityLimit` | Velocity limit command | +| `~/output/velocity_limit/clear` | `autoware_internal_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command | ## Parameters diff --git a/system/autoware_mrm_comfortable_stop_operator/include/autoware/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp b/system/autoware_mrm_comfortable_stop_operator/include/autoware/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp index 0dbaef1f1df21..082c6222470b0 100644 --- a/system/autoware_mrm_comfortable_stop_operator/include/autoware/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp +++ b/system/autoware_mrm_comfortable_stop_operator/include/autoware/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp @@ -20,9 +20,9 @@ #include // Autoware -#include -#include -#include +#include +#include +#include #include #include @@ -61,8 +61,9 @@ class MrmComfortableStopOperator : public rclcpp::Node // Publisher rclcpp::Publisher::SharedPtr pub_status_; - rclcpp::Publisher::SharedPtr pub_velocity_limit_; - rclcpp::Publisher::SharedPtr + rclcpp::Publisher::SharedPtr + pub_velocity_limit_; + rclcpp::Publisher::SharedPtr pub_velocity_limit_clear_command_; void publishStatus() const; diff --git a/system/autoware_mrm_comfortable_stop_operator/package.xml b/system/autoware_mrm_comfortable_stop_operator/package.xml index f400198171db5..219d3aca711c6 100644 --- a/system/autoware_mrm_comfortable_stop_operator/package.xml +++ b/system/autoware_mrm_comfortable_stop_operator/package.xml @@ -2,7 +2,7 @@ autoware_mrm_comfortable_stop_operator - 0.42.0 + 0.43.0 The MRM comfortable stop operator package Makoto Kurihara Tomohito Ando @@ -13,12 +13,12 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_internal_planning_msgs autoware_utils rclcpp rclcpp_components std_msgs std_srvs - tier4_planning_msgs tier4_system_msgs ament_lint_auto diff --git a/system/autoware_mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp b/system/autoware_mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp index 5f9df2789a9b5..21717d738ebd2 100644 --- a/system/autoware_mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp +++ b/system/autoware_mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp @@ -39,10 +39,10 @@ MrmComfortableStopOperator::MrmComfortableStopOperator(const rclcpp::NodeOptions // Publisher pub_status_ = create_publisher( "~/output/mrm/comfortable_stop/status", 1); - pub_velocity_limit_ = create_publisher( + pub_velocity_limit_ = create_publisher( "~/output/velocity_limit", rclcpp::QoS{1}.transient_local()); pub_velocity_limit_clear_command_ = - create_publisher( + create_publisher( "~/output/velocity_limit/clear", rclcpp::QoS{1}.transient_local()); // Timer @@ -96,7 +96,7 @@ void MrmComfortableStopOperator::publishStatus() const void MrmComfortableStopOperator::publishVelocityLimit() const { - auto velocity_limit = tier4_planning_msgs::msg::VelocityLimit(); + auto velocity_limit = autoware_internal_planning_msgs::msg::VelocityLimit(); velocity_limit.stamp = this->now(); velocity_limit.max_velocity = 0; velocity_limit.use_constraints = true; @@ -110,7 +110,8 @@ void MrmComfortableStopOperator::publishVelocityLimit() const void MrmComfortableStopOperator::publishVelocityLimitClearCommand() const { - auto velocity_limit_clear_command = tier4_planning_msgs::msg::VelocityLimitClearCommand(); + auto velocity_limit_clear_command = + autoware_internal_planning_msgs::msg::VelocityLimitClearCommand(); velocity_limit_clear_command.stamp = this->now(); velocity_limit_clear_command.command = true; velocity_limit_clear_command.sender = "mrm_comfortable_stop_operator"; diff --git a/system/autoware_mrm_emergency_stop_operator/CHANGELOG.rst b/system/autoware_mrm_emergency_stop_operator/CHANGELOG.rst index db2bb52b35615..1f115d2d343c8 100644 --- a/system/autoware_mrm_emergency_stop_operator/CHANGELOG.rst +++ b/system/autoware_mrm_emergency_stop_operator/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_mrm_emergency_stop_operator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +25,7 @@ Changelog for package autoware_mrm_emergency_stop_operator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `mrm_emergency_stop_operator` (`#9973 `_) +* feat: apply `autoware\_` prefix for `mrm_emergency_stop_operator` (`#9973 `_) * feat(mrm_emergency_stop_operator): apply `autoware\_` prefix (see below): Note: * In this commit, I did not organize a folder structure. @@ -40,22 +46,22 @@ Changelog for package autoware_mrm_emergency_stop_operator 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - system (`#9573 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -65,9 +71,9 @@ Changelog for package autoware_mrm_emergency_stop_operator 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -78,29 +84,29 @@ Changelog for package autoware_mrm_emergency_stop_operator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(mrm_emergency_stop_operator): add support for real time param reconfigure for mrm_emergency_stop (`#6994 `_) +* feat(mrm_emergency_stop_operator): add support for real time param reconfigure for mrm_emergency_stop (`#6994 `_) add support for real time param reconfigure for mrm_emergency_stop * Contributors: Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, danielsanchezaran 0.26.0 (2024-04-03) ------------------- -* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) +* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) chore(mrm_emergency_stop_operator): add a maintainer for mrm operator packages -* docs(mrm_emergency_stop_operator): fix file name (`#4226 `_) -* style: fix typos (`#3617 `_) +* docs(mrm_emergency_stop_operator): fix file name (`#4226 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -108,13 +114,13 @@ Changelog for package autoware_mrm_emergency_stop_operator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators * ci(pre-commit): autofix * fix(mrm_emergency_stop_operator): remove os import * fix(mrm_emergency_stop_operator): remove unused packages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers diff --git a/system/autoware_mrm_emergency_stop_operator/package.xml b/system/autoware_mrm_emergency_stop_operator/package.xml index 37b98586aac4f..100ca666d6a33 100644 --- a/system/autoware_mrm_emergency_stop_operator/package.xml +++ b/system/autoware_mrm_emergency_stop_operator/package.xml @@ -2,7 +2,7 @@ autoware_mrm_emergency_stop_operator - 0.42.0 + 0.43.0 The MRM emergency stop operator package Makoto Kurihara Tomohito Ando diff --git a/system/autoware_mrm_handler/CHANGELOG.rst b/system/autoware_mrm_handler/CHANGELOG.rst index c141ab2ce9504..782261a9daaf6 100644 --- a/system/autoware_mrm_handler/CHANGELOG.rst +++ b/system/autoware_mrm_handler/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_mrm_handler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +25,7 @@ Changelog for package autoware_mrm_handler 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `mrm_handler` (`#9974 `_) +* feat: apply `autoware\_` prefix for `mrm_handler` (`#9974 `_) * feat(mrm_handler): apply `autoware\_` prefix (see below): Note: * In this commit, I did not organize a folder structure. @@ -41,27 +47,27 @@ Changelog for package autoware_mrm_handler 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(mrm_handler): mrm handler publish emergecy holding (`#9285 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(mrm_handler): mrm handler publish emergecy holding (`#9285 `_) * feat: add publisher for emrgency holding * modify: fix msg element * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -71,9 +77,9 @@ Changelog for package autoware_mrm_handler 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -84,33 +90,33 @@ Changelog for package autoware_mrm_handler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(mrm_handler, emergency_handler): remove unnecessary depend (`#8099 `_) +* fix(mrm_handler, emergency_handler): remove unnecessary depend (`#8099 `_) * fix(mrm_handler): remove unnecessary depends * fix(emergency_handler): remove unnecessary depends --------- -* feat(mrm_handler): input gear command (`#8080 `_) +* feat(mrm_handler): input gear command (`#8080 `_) * feat(mrm_handler): input gear command * style(pre-commit): autofix * fix minor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(mrm_handler): add check for autonomous mode and do some refactoring (`#8067 `_) +* fix(mrm_handler): add check for autonomous mode and do some refactoring (`#8067 `_) * add check for autonomous mode and do some refactoring * add comments * fix comment --------- -* feat(mrm_handler): operate mrm only when autonomous operation mode (`#7784 `_) +* feat(mrm_handler): operate mrm only when autonomous operation mode (`#7784 `_) * feat: add isOperationModeAutonomous() function to MRM handler core The code changes add a new function `isOperationModeAutonomous()` to the MRM handler core. This function is used to check if the operation mode is set to autonomous. --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(mrm_handler): fix multiCondition warning (`#7543 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(mrm_handler): fix multiCondition warning (`#7543 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(mrm_handler): fix stop judgement (`#7362 `_) +* fix(mrm_handler): fix stop judgement (`#7362 `_) fix stop judgement Co-authored-by: Autumn60 -* feat(emergency_handler, mrm_handler): change to read topic by polling (`#7297 `_) +* feat(emergency_handler, mrm_handler): change to read topic by polling (`#7297 `_) * replace Subscription to InterProcessPollingSubscriber * sort depend packages list in package.xml * fix end of file @@ -119,29 +125,29 @@ Changelog for package autoware_mrm_handler * replace Subscription to InterProcessPollingSubscriber (mrm_handler) --------- Co-authored-by: Autumn60 -* refactor(mrm_handler): use switch for state machine (`#7277 `_) +* refactor(mrm_handler): use switch for state machine (`#7277 `_) * refactor nested if elses * delete other commits * return for consistency --------- -* fix(emergency_handler,mrm_handler): check for ego speed when determining the gear command (`#7264 `_) +* fix(emergency_handler,mrm_handler): check for ego speed when determining the gear command (`#7264 `_) * check for ego speed when determining the gear command * add gear history * update msg types --------- Co-authored-by: veqcc -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: componentize-mrm-handler (`#7018 `_) +* feat: componentize-mrm-handler (`#7018 `_) * Contributors: Autumn60, Kosuke Takeuchi, Kyoichi Sugahara, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, TetsuKawa, Yutaka Kondo, danielsanchezaran 0.26.0 (2024-04-03) ------------------- -* fix(mrm_handler): fix bug in operation mode availability timeout (`#6513 `_) +* fix(mrm_handler): fix bug in operation mode availability timeout (`#6513 `_) * fix operation mode availability timeout -* feat: add timeouts of request services (`#6532 `_) +* feat: add timeouts of request services (`#6532 `_) * feat: add timeouts of request services * style(pre-commit): autofix * feat: replace define with enum @@ -153,11 +159,11 @@ Changelog for package autoware_mrm_handler 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> Co-authored-by: Ryuta Kambe -* refactor(mrm_handler): delete control_cmd publish function (`#6514 `_) +* refactor(mrm_handler): delete control_cmd publish function (`#6514 `_) * refactor(mrm_handler): delete control_cmd publish function -* feat(mrm_handler, emergency_handler): remove takeover (`#6522 `_) +* feat(mrm_handler, emergency_handler): remove takeover (`#6522 `_) update(mrm_handler, emergency_handler): remove takeover -* feat(mrm_handler): add mrm_handler (`#6400 `_) +* feat(mrm_handler): add mrm_handler (`#6400 `_) * feat: add mrm_handler * style(pre-commit): autofix * modify: update README diff --git a/system/autoware_mrm_handler/package.xml b/system/autoware_mrm_handler/package.xml index ca9bb799bb532..1cb53ef5ee3e6 100644 --- a/system/autoware_mrm_handler/package.xml +++ b/system/autoware_mrm_handler/package.xml @@ -2,7 +2,7 @@ autoware_mrm_handler - 0.42.0 + 0.43.0 The mrm_handler ROS 2 package Makoto Kurihara Ryuta Kambe diff --git a/system/autoware_processing_time_checker/CHANGELOG.rst b/system/autoware_processing_time_checker/CHANGELOG.rst index d335f44df5336..d4b5dc49c49f5 100644 --- a/system/autoware_processing_time_checker/CHANGELOG.rst +++ b/system/autoware_processing_time_checker/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_processing_time_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,9 +25,9 @@ Changelog for package autoware_processing_time_checker 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_processing_time_checker)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_processing_time_checker (`#9921 `_) +* feat(autoware_processing_time_checker)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_processing_time_checker (`#9921 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* fix(autoware_processing_time_checker): fix bugprone-exception-escape (`#9780 `_) +* fix(autoware_processing_time_checker): fix bugprone-exception-escape (`#9780 `_) * fix: bugprone-error * fix: cpplint --------- @@ -30,29 +36,29 @@ Changelog for package autoware_processing_time_checker 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(autoware_processing_time_checker): fix typo (`#9504 `_) -* feat(autoware_processing_time_checker): add a trigger to choice whether to output metrics to log folder (`#9479 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_processing_time_checker): fix typo (`#9504 `_) +* feat(autoware_processing_time_checker): add a trigger to choice whether to output metrics to log folder (`#9479 `_) * add output_metrics option. * move param set from config to launch file. * fix bug. --------- -* feat(processing_time_checker): update processing time list (`#9350 `_) +* feat(processing_time_checker): update processing time list (`#9350 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -75,7 +81,7 @@ Changelog for package autoware_processing_time_checker * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -86,9 +92,9 @@ Changelog for package autoware_processing_time_checker 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) * first commit * fix building errs. * change diagnostic messages to metric messages for publishing decision. @@ -111,7 +117,7 @@ Changelog for package autoware_processing_time_checker * update unit test for test_planning/control_evaluator * manual pre-commit --------- -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -122,14 +128,14 @@ Changelog for package autoware_processing_time_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* feat(processing_time_checker): add a new package (`#7957 `_) +* feat(processing_time_checker): add a new package (`#7957 `_) * feat(processing_time_checker): add a new package * fix * fix diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index 5b57c04ba141b..c090af054bd37 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -2,7 +2,7 @@ autoware_processing_time_checker - 0.42.0 + 0.43.0 A package to find out nodes with common names Takayuki Murooka Kosuke Takeuchi diff --git a/system/autoware_system_diagnostic_monitor/CHANGELOG.rst b/system/autoware_system_diagnostic_monitor/CHANGELOG.rst index 6bdd7965de241..2e7875c04db05 100644 --- a/system/autoware_system_diagnostic_monitor/CHANGELOG.rst +++ b/system/autoware_system_diagnostic_monitor/CHANGELOG.rst @@ -2,12 +2,20 @@ Changelog for package autoware_system_diagnostic_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat(path_optimizer): additional failure logging and failure mode handling (`#10276 `_) + MRM when MPT fails +* Contributors: Arjun Jagdish Ram, Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,26 +24,26 @@ Changelog for package autoware_system_diagnostic_monitor 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) +* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) * Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -45,9 +53,9 @@ Changelog for package autoware_system_diagnostic_monitor 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -58,24 +66,24 @@ Changelog for package autoware_system_diagnostic_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) +* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) * fix(localization_error_monitor): fix to use diagnostics_module in localization_util * fix: update media * fix: update component name * fix: rename include file --------- -* feat(autonomous_emergency_braking): enable AEB emergency stop (`#8255 `_) +* feat(autonomous_emergency_braking): enable AEB emergency stop (`#8255 `_) enable AEB emergency stop -* fix(system_diagnostic_monitor): fix local mode config (`#7532 `_) -* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) -* feat(default_ad_api): use diagnostic graph (`#7043 `_) -* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) +* fix(system_diagnostic_monitor): fix local mode config (`#7532 `_) +* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) +* feat(default_ad_api): use diagnostic graph (`#7043 `_) +* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) rename ndt diag -* feat: remake diagnostic graph packages (`#6715 `_) +* feat: remake diagnostic graph packages (`#6715 `_) * Contributors: RyuYamamoto, Takagi, Isamu, Yamato Ando, Yutaka Kondo, danielsanchezaran 0.26.0 (2024-04-03) ------------------- -* feat(system_diagnostic_graph): change config file format (`#5340 `_) -* feat: system diagnostic monitor (`#4722 `_) +* feat(system_diagnostic_graph): change config file format (`#5340 `_) +* feat: system diagnostic monitor (`#4722 `_) * Contributors: Takagi, Isamu diff --git a/system/autoware_system_diagnostic_monitor/config/planning.yaml b/system/autoware_system_diagnostic_monitor/config/planning.yaml index c403fec2371c3..6f4e72be94fac 100644 --- a/system/autoware_system_diagnostic_monitor/config/planning.yaml +++ b/system/autoware_system_diagnostic_monitor/config/planning.yaml @@ -9,6 +9,7 @@ units: - { type: link, link: /autoware/planning/topic_rate_check/route } - { type: link, link: /autoware/planning/topic_rate_check/trajectory } - { type: link, link: /autoware/planning/trajectory_validation } + - { type: link, link: /autoware/planning/emergency_stop } - path: /autoware/planning/trajectory_validation type: and @@ -24,6 +25,11 @@ units: - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } + - path: /autoware/planning/emergency_stop + type: and + list: + - { type: link, link: /planning/path_optimizer_emergency_stop-error } + - path: /autoware/planning/routing/state type: diag node: component_state_diagnostics @@ -88,3 +94,15 @@ units: type: diag node: planning_validator name: trajectory_validation_velocity_deviation + + - path: /planning/path_optimizer_emergency_stop-error + type: warn-to-ok + item: + type: link + link: /planning/path_optimizer_emergency_stop + + - path: /planning/path_optimizer_emergency_stop + type: diag + node: path_optimizer + name: path_optimizer_emergency_stop + timeout: 1.0 diff --git a/system/autoware_system_diagnostic_monitor/package.xml b/system/autoware_system_diagnostic_monitor/package.xml index 4ddc7b31ddf70..3a2822fbc77f7 100644 --- a/system/autoware_system_diagnostic_monitor/package.xml +++ b/system/autoware_system_diagnostic_monitor/package.xml @@ -2,7 +2,7 @@ autoware_system_diagnostic_monitor - 0.42.0 + 0.43.0 The autoware_system_diagnostic_monitor package Takagi, Isamu Junya Sasaki diff --git a/system/autoware_system_monitor/CHANGELOG.rst b/system/autoware_system_monitor/CHANGELOG.rst index 4dd0581da7fa6..8a2320f79e396 100644 --- a/system/autoware_system_monitor/CHANGELOG.rst +++ b/system/autoware_system_monitor/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_system_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,12 +25,12 @@ Changelog for package autoware_system_monitor 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `system_monitor` (`#10017 `_) +* feat: apply `autoware\_` prefix for `system_monitor` (`#10017 `_) * feat(system_monitor): apply `autoware\_` prefix (see below): - * The `system_monitor` operates independently from other modules in `autoware.universe`, so the `autoware\_` prefix is added only to the package name. + * The `system_monitor` operates independently from other modules in `autoware_universe`, so the `autoware\_` prefix is added only to the package name. * The `autoware::` namespace is not used because C language does not support namespaces. * Headers are not moved under `include/autoware` to maintain compatibility for use outside the `autoware` context. - * For users utilizing this package within `autoware.universe`, only the package name includes the `autoware\_` prefix. + * For users utilizing this package within `autoware_universe`, only the package name includes the `autoware\_` prefix. This approach explains the unique namespacing and naming conventions for `system_monitor` compared to other packages. * bug(system_monitor): fix missing package name update * rename: `system_monitor` => `autoware_system_monitor` @@ -39,34 +45,34 @@ Changelog for package autoware_system_monitor 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) -* fix(cpplint): include what you use - system (`#9573 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - system (`#9573 `_) * 0.39.0 * update changelog * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) +* feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) * feat(system_monitor): add config for network traffic monitor * fix: change function name from stop to skip --------- -* feat(system_monitor): support loopback network interface (`#9067 `_) +* feat(system_monitor): support loopback network interface (`#9067 `_) * feat(system_monitor): support loopback network interface * style(pre-commit): autofix --------- @@ -76,19 +82,19 @@ Changelog for package autoware_system_monitor 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) +* feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) * feat(system_monitor): add config for network traffic monitor * fix: change function name from stop to skip --------- -* feat(system_monitor): support loopback network interface (`#9067 `_) +* feat(system_monitor): support loopback network interface (`#9067 `_) * feat(system_monitor): support loopback network interface * style(pre-commit): autofix --------- @@ -99,91 +105,91 @@ Changelog for package autoware_system_monitor ------------------- * remove system_monitor/CHANGELOG.rst * unify package.xml version to 0.37.0 -* fix(system_monitor): fix variableScope (`#8448 `_) +* fix(system_monitor): fix variableScope (`#8448 `_) fix:variableScope -* fix(system_monitor): fix unusedStructMember (`#8401 `_) +* fix(system_monitor): fix unusedStructMember (`#8401 `_) * fix:unusedStructMember * fix:clang format * fix:clang format --------- -* fix(system_monitor): fix unreadVariable (`#8372 `_) +* fix(system_monitor): fix unreadVariable (`#8372 `_) fix:unreadVariable -* fix(system_monitor): fix shadowVariable (`#7981 `_) +* fix(system_monitor): fix shadowVariable (`#7981 `_) fix:shadowVariable -* fix(system_monitor): apply cppcheck-suppress for cstyleCast (`#7867 `_) +* fix(system_monitor): apply cppcheck-suppress for cstyleCast (`#7867 `_) * fix(system_monitor): apply cppcheck-suppress for cstyleCast * fix(system_monitor): apply cppcheck-suppress for cstyleCast * style(pre-commit): autofix --------- 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 `_) -* fix(net_monitor): fix cppcheck warnings (`#7573 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(net_monitor): fix cppcheck warnings (`#7573 `_) * fix unusedVariable warning * fix unusedVariable warning * fix variableScope warning * fix unreadVariable warning * fix --------- -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(system_monitor): fix unsignedLessThanZero warning (`#7545 `_) -* ci(pre-commit): autoupdate (`#7499 `_) +* fix(system_monitor): fix unsignedLessThanZero warning (`#7545 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* fix(system_monitor): fix warning of containerOutOfBounds (`#6927 `_) +* fix(system_monitor): fix warning of containerOutOfBounds (`#6927 `_) * Contributors: Koichi98, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 0.26.0 (2024-04-03) ------------------- -* fix(system_monitor): move headers to a separate directory (`#5942 `_) +* fix(system_monitor): move headers to a separate directory (`#5942 `_) * fix(system_monitor): 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> -* fix(system_monitor): fix uninitialized diag level of process monitor (`#5753 `_) -* chore: update maintainer (`#5730 `_) +* fix(system_monitor): fix uninitialized diag level of process monitor (`#5753 `_) +* chore: update maintainer (`#5730 `_) update maintainer -* fix(system_monitor): output command line (`#5430 `_) +* fix(system_monitor): output command line (`#5430 `_) * fix(system_monitor): output command line * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* perf(system_monitor): fix program command line reading (`#5191 `_) +* perf(system_monitor): fix program command line reading (`#5191 `_) * Fix program command line reading * style(pre-commit): autofix * fix spelling commandline->command_line --------- Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ntp_monitor): move chronyc command execution to a timer (`#4634 `_) +* fix(ntp_monitor): move chronyc command execution to a timer (`#4634 `_) * fix(ntp_monitor): move chronyc command execution to a timer * add newly added parameter timeout to config --------- Co-authored-by: Hiroki OTA -* fix(system_monitor): high-memory process are not provided in MEM order (`#4654 `_) +* fix(system_monitor): high-memory process are not provided in MEM order (`#4654 `_) * fix(process_monitor): high-memory process are not being provided in %MEM order * changed option from 'g' to 'n' --------- -* fix(system_monitor): extend command line to display (`#4553 `_) -* feat(system_monitor): add detection of ECC memory errors (`#3795 `_) +* fix(system_monitor): extend command line to display (`#4553 `_) +* feat(system_monitor): add detection of ECC memory errors (`#3795 `_) * feat(system_monitor): add detection of ECC memory errors * style(pre-commit): autofix * fix process crash when edac-utils is not installed * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(perception): remove UB reinterpret_cast (`#3383 `_) +* fix(perception): remove UB reinterpret_cast (`#3383 `_) * fix(perception): remove UB reinterpret_cast - see https://github.com/autowarefoundation/autoware.universe/issues/3215 + see https://github.com/autowarefoundation/autoware_universe/issues/3215 * fix(pointcloud_preprocessor): remove UB reinterpret_cast * refactor --------- -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -191,17 +197,17 @@ Changelog for package autoware_system_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build(system_monitor): added missing Boost dependencies (`#2881 `_) +* build(system_monitor): added missing Boost dependencies (`#2881 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* build(system_monitor): add build dependency (`#2740 `_) -* fix(system_monitor): change default param path (`#2560 `_) -* fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load (`#2474 `_) +* build(system_monitor): add build dependency (`#2740 `_) +* fix(system_monitor): change default param path (`#2560 `_) +* fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load (`#2474 `_) * fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load * ci(pre-commit): autofix * fix(system_monitor): fix include guards @@ -222,17 +228,17 @@ Changelog for package autoware_system_monitor * fix(net_monitor): update README * fix(net_monitor): add lock guard to protect variable Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: replace python launch with xml launch for system monitor (`#2430 `_) +* 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> -* chore(system_monitor): add maintainer (`#2420 `_) -* refactor(system_monitor/hdd_monitor): rename structs and functions (`#2144 `_) +* chore(system_monitor): add maintainer (`#2420 `_) +* refactor(system_monitor/hdd_monitor): rename structs and functions (`#2144 `_) * refactor(system_monitor/hdd_monitor): rename structs and functions * fix a mistake -* chore(system_monitor): fix typos (`#2142 `_) -* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) +* chore(system_monitor): fix typos (`#2142 `_) +* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) * adding document for voltage monitor * ci(pre-commit): autofix * fixed for the issue of multithread @@ -252,36 +258,36 @@ Changelog for package autoware_system_monitor * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -292,7 +298,7 @@ Changelog for package autoware_system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -302,50 +308,50 @@ Changelog for package autoware_system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * 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> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * 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(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -366,36 +372,36 @@ Changelog for package autoware_system_monitor * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -406,7 +412,7 @@ Changelog for package autoware_system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -416,50 +422,50 @@ Changelog for package autoware_system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * 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> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * 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(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -469,11 +475,11 @@ Changelog for package autoware_system_monitor * merge main ->feature_battery_monitoring * Added voltages are provisional values. * ci(pre-commit): autofix - * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) + * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) * feat(behavior_path_planner): add and change parameters * update * update - * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) + * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) * refactor(perception_util): refactor matching function in perception_util * fix namespace * refactor @@ -481,7 +487,7 @@ Changelog for package autoware_system_monitor * fix bug * add const * refactor function name - * refactor(perception_utils): refactor object_classification (`#2042 `_) + * refactor(perception_utils): refactor object_classification (`#2042 `_) * refactor(perception_utils): refactor object_classification * fix bug * fix unittest @@ -489,14 +495,14 @@ Changelog for package autoware_system_monitor * fix unit test * remove redundant else * refactor variable name - * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) - * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) - * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) + * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) + * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) + * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) * refactor(osqp_interface, motion_velocity_smoother): unsolved status log * Update common/osqp_interface/src/osqp_interface.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) + * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) Co-authored-by: Yusuke Muramatsu * change name hardware_monitor -> voltage_monitor * copy right 2020 -> 2022 @@ -521,36 +527,36 @@ Changelog for package autoware_system_monitor * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -561,7 +567,7 @@ Changelog for package autoware_system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -571,50 +577,50 @@ Changelog for package autoware_system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * 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> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * 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(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -632,36 +638,36 @@ Changelog for package autoware_system_monitor * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -672,7 +678,7 @@ Changelog for package autoware_system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -682,50 +688,50 @@ Changelog for package autoware_system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * 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> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * 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(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -768,7 +774,7 @@ Changelog for package autoware_system_monitor Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Yusuke Muramatsu -* feat: add HDD monitoring items to hdd_monitor (`#721 `_) +* feat: add HDD monitoring items to hdd_monitor (`#721 `_) * feat: add HDD monitoring items to hdd_monitor * fix pre-commit C long type error * fixed the monitoring method of RecoveredError @@ -779,7 +785,7 @@ Changelog for package autoware_system_monitor * fix(system_monitor): level change when not connected in HDD connection monitoring * fix(system_monitor): unmount function added in hdd_reader * fix(system_monitor): separate S.M.A.R.T. request and lazy unmount request for hdd_reader -* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) +* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) * feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor * fix build errors caused by merge mistakes * fix(system_monitor): chang word Reasm and fix deep nesting @@ -789,63 +795,63 @@ Changelog for package autoware_system_monitor * fix(system_monitor): remove unnecessary static_cast * fix(system_monitor): typo fix Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat: add GPU clock monitoring to gpu_monitor (`#687 `_) -* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) +* feat: add GPU clock monitoring to gpu_monitor (`#687 `_) +* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* fix(system_monitor): incorrect counter increment in CPU Usage monitor (`#1783 `_) +* fix(system_monitor): incorrect counter increment in CPU Usage monitor (`#1783 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat: add CRC error monitoring to net_monitor (`#638 `_) +* feat: add CRC error monitoring to net_monitor (`#638 `_) * feat: add CRC error monitoring to net_monitor * add CRC error monitoring information to README.md * ci(pre-commit): autofix Co-authored-by: noriyuki.h Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): multithreading support for boost::process (`#1714 `_) -* fix(system_monitor): move top command execution to a timer (`#948 `_) +* fix(system_monitor): multithreading support for boost::process (`#1714 `_) +* fix(system_monitor): move top command execution to a timer (`#948 `_) * fix(system_monitor): move top command execution to a timer * removed unnecessary update method * use tier4_autoware_utils::StopWatch * Ensure thread-safe -* fix(system_monitor): add some smart information to diagnostics (`#708 `_) -* fix(system_monitor): fix truncation warning in strncpy (`#872 `_) +* fix(system_monitor): add some smart information to diagnostics (`#708 `_) +* 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 -* feat: isolate gtests in all packages (`#693 `_) -* fix(system_monitor): fix build error on tegra platform (`#869 `_) +* feat: isolate gtests in all packages (`#693 `_) +* fix(system_monitor): fix build error on tegra platform (`#869 `_) * fix(system_monitor): fix build error on tegra platform * ci(pre-commit): autofix * Update system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp Co-authored-by: Shark Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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 bad chars (`#845 `_) -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(system_monitor): modify build error in rolling (`#788 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* chore: remove bad chars (`#845 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(system_monitor): modify build error in rolling (`#788 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(system_monitor): add some smart information to diagnostics (`#560 `_) +* feat(system_monitor): add some smart information to diagnostics (`#560 `_) * feat(system_monitor): add some smart information to diagnostics * ci(pre-commit): autofix * modify regex for nvme device name Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(system_monitor): change method of CPU usage monitoring (`#557 `_) - * feat(lidar_detection): changing default input topic name of lidar detection nodes (`#433 `_) +* feat(system_monitor): change method of CPU usage monitoring (`#557 `_) + * feat(lidar_detection): changing default input topic name of lidar detection nodes (`#433 `_) * feat(system_monitor): change method of CPU usage monitoring Co-authored-by: Taichi Higashide -* feat(hdd_monitor): add unit to value side as well as other metrics (`#325 `_) -* feat: add cpu usage topic (`#353 `_) +* feat(hdd_monitor): add unit to value side as well as other metrics (`#325 `_) +* feat: add cpu usage topic (`#353 `_) * modified for publishing cpu_usage_api * modified for calib error output and cpu usage output * modified push_back condition @@ -861,13 +867,13 @@ Changelog for package autoware_system_monitor * modify unnecessary change for pull request * run pre-commit * modify unnecessary change - * modified along the comments on PR `#353 `_ - * modified along the comments on PR `#353 `_ + * modified along the comments on PR `#353 `_ + * modified along the comments on PR `#353 `_ * remove unnecessary process Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(system_monitor): handle parameter as mount point (`#259 `_) -* fix(system_monitor): fix build error on aarch64 (`#263 `_) -* feat: change launch package name (`#186 `_) +* feat(system_monitor): handle parameter as mount point (`#259 `_) +* fix(system_monitor): fix build error on aarch64 (`#263 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch @@ -885,22 +891,22 @@ Changelog for package autoware_system_monitor Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tanaka3 Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* chore(sync): merged autoware.iv/pull/2362 (`#761 `_) (`#134 `_) +* chore(sync): merged autoware.iv/pull/2362 (`#761 `_) (`#134 `_) Co-authored-by: h-mitsui-esol <57085544+h-mitsui-esol@users.noreply.github.com> -* feat: add autoware_system_monitor package (`#14 `_) +* feat: add autoware_system_monitor package (`#14 `_) * release v0.4.0 - * Fixed uninitialized variable. (`#763 `_) - * Fixed various bugs. (`#768 `_) + * Fixed uninitialized variable. (`#763 `_) + * Fixed various bugs. (`#768 `_) * Fixed various bugs. * Fixed wrong status report of NIC. - * Added the mode of CPU Usage to check statistics calculated as averages among all processors by default. (`#788 `_) - * fix uninitialized variables (`#816 `_) + * Added the mode of CPU Usage to check statistics calculated as averages among all processors by default. (`#788 `_) + * fix uninitialized variables (`#816 `_) * remove ROS1 packages temporarily * Revert "remove ROS1 packages temporarily" This reverts commit a9436882d50dc09fa5b8d6c0a151a10def76b242. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * Port system monitor to ros2 (`#71 `_) + * Rename launch files to launch.xml (`#28 `_) + * Port system monitor to ros2 (`#71 `_) * Implement a utility function that spins and updates a monitor node. * Port cpu monitor * Port hdd monitor. @@ -913,89 +919,89 @@ Changelog for package autoware_system_monitor * Clean up the build and launch files: * Clean up and comment on CMake and package files. * Port the launch file to ROS2 - * Rename h files to hpp (`#142 `_) + * Rename h files to hpp (`#142 `_) * Change includes * Rename files * Adjustments to make things compile * Other packages - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * 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 (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * ROS2 Linting: system_monitor (`#207 `_) + * ROS2 Linting: system_monitor (`#207 `_) * Add linters * Fix clang-tidy error in util.hpp - * Ros2 v0.8.0 system monitor (`#276 `_) + * Ros2 v0.8.0 system monitor (`#276 `_) * fix dependency of system_monitor - * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * Exclude SwPowerCap as an error. (`#1146 `_) (`#364 `_) + * Exclude SwPowerCap as an error. (`#1146 `_) (`#364 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> - * [Update v0.9.0] system monitor (`#365 `_) - * Disable CPU Load Average warning. (`#1147 `_) - * Fix cpu_monitor respawning forever. (`#1150 `_) - * Disable cpu_temperature in planning simulation (`#1151 `_) - * Net Monitor: Handle as an error if specified device not exist. (`#1152 `_) + * [Update v0.9.0] system monitor (`#365 `_) + * Disable CPU Load Average warning. (`#1147 `_) + * Fix cpu_monitor respawning forever. (`#1150 `_) + * Disable cpu_temperature in planning simulation (`#1151 `_) + * Net Monitor: Handle as an error if specified device not exist. (`#1152 `_) * Handled as an error if specified device not exist. * Disable network diags in simulation Co-authored-by: Kenji Miyake * apply ament_uncrustify - * Disable resource monitoring in planning_simulator (`#1172 `_) - * Treat logging errors as safe faults (`#1164 `_) - * Fix test code of system_monitor (`#1178 `_) + * Disable resource monitoring in planning_simulator (`#1172 `_) + * Treat logging errors as safe faults (`#1164 `_) + * Fix test code of system_monitor (`#1178 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Use thread for ntpdate. (`#1160 `_) (`#375 `_) - * Use thread for ntpdate. (`#1160 `_) + * Use thread for ntpdate. (`#1160 `_) (`#375 `_) + * Use thread for ntpdate. (`#1160 `_) * removed unused variable - * Import v0.9.1 (`#431 `_) - * add local optimal solution ocillation check to ndt_scan_matcher (`#1182 `_) - * Add obstacle_crush diagnostic (`#1186 `_) - * Fix diagnostics api (`#1185 `_) + * Import v0.9.1 (`#431 `_) + * add local optimal solution ocillation check to ndt_scan_matcher (`#1182 `_) + * Add obstacle_crush diagnostic (`#1186 `_) + * Fix diagnostics api (`#1185 `_) * Fix diagnostics api * Don't overwrite level * Overwrite level of No Fault diagnostics - * Add missing diag in autoware_error_monitor.yaml (`#1187 `_) - * Filter hazard_status (`#1191 `_) + * Add missing diag in autoware_error_monitor.yaml (`#1187 `_) + * Filter hazard_status (`#1191 `_) * Filter hazard_status * Filter leaf diagnostics - * Fix wrong calculation of available memory. (`#1168 `_) + * Fix wrong calculation of available memory. (`#1168 `_) * Fixed wrong calculation of available memory. * Added comments about output example of free -tb command. - * Change monitoring method to get HDD temperature and usage per specified device. (`#1195 `_) + * Change monitoring method to get HDD temperature and usage per specified device. (`#1195 `_) * Changed monitoring method to get temperature and usage per specified device. * Fixed test codes. * Removed unnecessary (void) parameter. - * return input pointcloud when ground plane not found (`#1190 `_) - * fix yaw-smoothing bug (`#1198 `_) + * return input pointcloud when ground plane not found (`#1190 `_) + * fix yaw-smoothing bug (`#1198 `_) * Fix lint Co-authored-by: Taichi Higashide Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: tkimura4 - * Fix typo in system module (`#434 `_) + * Fix typo in system module (`#434 `_) * Fix typo in system module * Change variable name * Move comments * Apply uncrustify - * Split system_monitor config (`#452 `_) - * Remove unnecessary diagnostic update. (`#455 `_) - * add use_sim-time option (`#454 `_) - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * Split system_monitor config (`#452 `_) + * Remove unnecessary diagnostic update. (`#455 `_) + * add use_sim-time option (`#454 `_) + * 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 `_) + * 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 @@ -1003,7 +1009,7 @@ Changelog for package autoware_system_monitor * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * 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 @@ -1013,19 +1019,19 @@ Changelog for package autoware_system_monitor * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * 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 `_) + * 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 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -1039,7 +1045,7 @@ Changelog for package autoware_system_monitor Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski - * Fix issues in gpu_monitor (`#1248 `_) + * Fix issues in gpu_monitor (`#1248 `_) * Fix issues in gpu_monitor * Fix uninitialized variables * Use range-based for loop @@ -1047,13 +1053,13 @@ Changelog for package autoware_system_monitor * Replace C-style to C++-style * Make iterators const * Fix fmt::format() usage error - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * [system_monitor] change some nodes into components (`#1234 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * [system_monitor] change some nodes into components (`#1234 `_) Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: Takeshi Miura Co-authored-by: wep21 - * add system_monitor.launch.py (`#1238 `_) + * add system_monitor.launch.py (`#1238 `_) * add system_monitor.launch.py * refactor system_monitor.launch.py * fix launch bug @@ -1061,50 +1067,50 @@ Changelog for package autoware_system_monitor * fix launch py * fix param loading * format code - * fix system monitor executor to publish diagnostics asynclonously (`#1283 `_) - * Fix lint errors (`#1378 `_) + * fix system monitor executor to publish diagnostics asynclonously (`#1283 `_) + * Fix lint errors (`#1378 `_) * Fix lint errors * Fix variable names - * Add kernel CPU usage. (`#1465 `_) + * Add kernel CPU usage. (`#1465 `_) * Add kernel CPU usage. * Change CPU x: usage to CPU x: total. * Changed variable name. - * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier (`#1661 `_) * Add markdownlint and prettier * Ignore .param.yaml * Apply format - * suppress warnings for system monitor (`#1723 `_) + * suppress warnings for system monitor (`#1723 `_) * fix for hdd_monitor * fix no initialization and warning - * change command for ntp_monitor (`#1705 `_) + * change command for ntp_monitor (`#1705 `_) * [EVT4-403] change command for ntp_monitor * [EVT4-403] fixed CI build error * [EVT4-403] fixed cpplint error * delete executeChronyc thread, fix error topic and log output code * fix cpplint error and code style divergence * fix cpplint error(missing correction) - * Fix MD029 (`#1813 `_) - * Fix -Wunused-parameter (`#1836 `_) + * Fix MD029 (`#1813 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * add gpu usage per process (`#1798 `_) + * add gpu usage per process (`#1798 `_) * add gpu usage per process * change illegal usage(4294967295%) to 0%, and fix CI running errors * Replace gettimeofday with rclcpp::Node::now(). * Fix uncrustify error. * Replace rclcpp::Node::now() with rclcpp::Clock(RCL_SYSTEM_TIME). Co-authored-by: ito-san - * fix some typos (`#1941 `_) + * fix some typos (`#1941 `_) * fix some typos * fix typo * Fix typo Co-authored-by: Kenji Miyake - * suppress warnings for system directory `#2046 `_ - * add sort-package-xml hook in pre-commit (`#1881 `_) + * suppress warnings for system directory `#2046 `_ + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -1118,8 +1124,8 @@ Changelog for package autoware_system_monitor * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Add execution time logging. (`#2066 `_) - * Add markdown-link-check pre-commit (`#2215 `_) + * Add execution time logging. (`#2066 `_) + * Add markdown-link-check pre-commit (`#2215 `_) * add markdown-lint-check pre-commit * delete files argument * add optional hook @@ -1134,7 +1140,7 @@ Changelog for package autoware_system_monitor * Ignore tier4 github url * Update link Co-authored-by: Kenji Miyake - * Change formatter to clang-format and black (`#2332 `_) + * 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 @@ -1146,8 +1152,8 @@ Changelog for package autoware_system_monitor * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) Co-authored-by: mitsudome-r Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Kazuki Miyahara diff --git a/system/autoware_system_monitor/package.xml b/system/autoware_system_monitor/package.xml index 0e3b326c8329e..b9a672fee15b6 100644 --- a/system/autoware_system_monitor/package.xml +++ b/system/autoware_system_monitor/package.xml @@ -2,7 +2,7 @@ autoware_system_monitor - 0.42.0 + 0.43.0 The system_monitor package Fumihito Ito TetsuKawa diff --git a/system/autoware_topic_relay_controller/CHANGELOG.rst b/system/autoware_topic_relay_controller/CHANGELOG.rst index 61d2f5f05011b..703932aa3f745 100644 --- a/system/autoware_topic_relay_controller/CHANGELOG.rst +++ b/system/autoware_topic_relay_controller/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_topic_relay_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- -* fix(autoware_topic_relay_controller): fix typo (`#10081 `_) +* fix(autoware_topic_relay_controller): fix typo (`#10081 `_) fix typo * Contributors: Yutaka Kondo 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +25,7 @@ Changelog for package autoware_topic_relay_controller 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_topic_relay_controller): add topic relay controller node (`#9964 `_) +* feat(autoware_topic_relay_controller): add topic relay controller node (`#9964 `_) * feat: add node base * modify: include guard * feat: delete schema @@ -51,7 +57,7 @@ Changelog for package autoware_topic_relay_controller * Contributors: Fumiya Watanabe, TetsuKawa * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_topic_relay_controller): add topic relay controller node (`#9964 `_) +* feat(autoware_topic_relay_controller): add topic relay controller node (`#9964 `_) * feat: add node base * modify: include guard * feat: delete schema diff --git a/system/autoware_topic_relay_controller/package.xml b/system/autoware_topic_relay_controller/package.xml index 86251306b25d8..51aafb733c302 100644 --- a/system/autoware_topic_relay_controller/package.xml +++ b/system/autoware_topic_relay_controller/package.xml @@ -2,7 +2,7 @@ autoware_topic_relay_controller - 0.42.0 + 0.43.0 The topic_relay_controller ROS 2 package Makoto Kurihara Tetsuhiro Kawaguchi diff --git a/system/autoware_topic_state_monitor/CHANGELOG.rst b/system/autoware_topic_state_monitor/CHANGELOG.rst index 7300bdd21b28e..81ef4024f923e 100644 --- a/system/autoware_topic_state_monitor/CHANGELOG.rst +++ b/system/autoware_topic_state_monitor/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_topic_state_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,26 +22,26 @@ Changelog for package autoware_topic_state_monitor 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) +* feat: apply `autoware` prefix for `component_state_monitor` and its dependencies (`#9961 `_) * Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -45,9 +51,9 @@ Changelog for package autoware_topic_state_monitor 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -58,19 +64,19 @@ Changelog for package autoware_topic_state_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(topic_state_monitor): enrich error log message (`#7236 `_) +* chore(topic_state_monitor): enrich error log message (`#7236 `_) * Contributors: Takamasa Horibe, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* refactor(topic_state_monitor): add state log message (`#5378 `_) +* refactor(topic_state_monitor): add state log message (`#5378 `_) * refactor(topic_state_monitor): add state log message * add debug print --------- -* docs(topic_state_monitor): rename readme to README (`#4225 `_) -* chore: update maintainer (`#4140 `_) +* docs(topic_state_monitor): rename readme to README (`#4225 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -78,27 +84,27 @@ Changelog for package autoware_topic_state_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(topic_state_monitor): support transform topic check (`#1586 `_) -* refactor(topic_state_monitor): move the parameter group to match implementation (`#1909 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat(topic_state_monitor): support transform topic check (`#1586 `_) +* refactor(topic_state_monitor): move the parameter group to match implementation (`#1909 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: replace legacy timer (`#329 `_) +* chore: replace legacy timer (`#329 `_) * chore(goal_distance_calculator): replace legacy timer * chore(path_distance_calculator): replace legacy timer * chore(control_performance_analysis): replace legacy timer @@ -133,28 +139,28 @@ Changelog for package autoware_topic_state_monitor * chore(external_cmd_converter): replace legacy timer * chore(pacmod_interface): replace legacy timer * chore(lint): apply pre-commit -* feat: add topic_state_monitor package (`#15 `_) - * Ros2 v0.8.0 topic state monitor (`#283 `_) - * Add node_name_suffix to topic_state_monitor.launch (`#1157 `_) (`#370 `_) - * fix launch file (`#411 `_) - * add transient local option to topic state monitor (`#410 `_) +* feat: add topic_state_monitor package (`#15 `_) + * Ros2 v0.8.0 topic state monitor (`#283 `_) + * Add node_name_suffix to topic_state_monitor.launch (`#1157 `_) (`#370 `_) + * fix launch file (`#411 `_) + * add transient local option to topic state monitor (`#410 `_) * add transient local option to topic state monitor * sort parameters * sort parameter - * [topic_state_monitor]: Add best effort option (`#430 `_) + * [topic_state_monitor]: Add best effort option (`#430 `_) Co-authored-by: autoware - * add use_sim-time option (`#454 `_) - * Fix for rolling (`#1226 `_) + * add use_sim-time option (`#454 `_) + * Fix for rolling (`#1226 `_) * Replace doc by description * Replace ns by push-ros-namespace - * change to composable node (`#1233 `_) - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Fix lint errors (`#1378 `_) + * change to composable node (`#1233 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Fix lint errors (`#1378 `_) * Fix lint errors * Fix variable names - * Use integrated generic subscription (`#1342 `_) - * suppress warnings for declare parameters (`#1724 `_) + * Use integrated generic subscription (`#1342 `_) + * suppress warnings for declare parameters (`#1724 `_) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor @@ -173,14 +179,14 @@ Changelog for package autoware_topic_state_monitor * add Werror * add Werror * fix style - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * Change formatter to clang-format and black (`#2332 `_) + * 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 @@ -192,9 +198,9 @@ Changelog for package autoware_topic_state_monitor * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) - * [topic_state_monitor]add readme (`#565 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * [topic_state_monitor]add readme (`#565 `_) * add readme * Update system/topic_state_monitor/Readme.md Co-authored-by: Kazuki Miyahara diff --git a/system/autoware_topic_state_monitor/package.xml b/system/autoware_topic_state_monitor/package.xml index de804d90025f8..2f175643f2c7e 100644 --- a/system/autoware_topic_state_monitor/package.xml +++ b/system/autoware_topic_state_monitor/package.xml @@ -2,7 +2,7 @@ autoware_topic_state_monitor - 0.42.0 + 0.43.0 The autoware_topic_state_monitor package Ryohsuke Mitsudome Junya Sasaki diff --git a/system/autoware_velodyne_monitor/CHANGELOG.rst b/system/autoware_velodyne_monitor/CHANGELOG.rst index 89ad0d8a58f74..ea09fe5770a93 100644 --- a/system/autoware_velodyne_monitor/CHANGELOG.rst +++ b/system/autoware_velodyne_monitor/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_velodyne_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,26 +22,26 @@ Changelog for package autoware_velodyne_monitor 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `velodyne_monitor` (`#9976 `_) +* feat: apply `autoware\_` prefix for `velodyne_monitor` (`#9976 `_) * Contributors: Fumiya Watanabe, Junya Sasaki 0.40.0 (2024-12-12) ------------------- -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -45,9 +51,9 @@ Changelog for package autoware_velodyne_monitor 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -58,15 +64,15 @@ Changelog for package autoware_velodyne_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(velodyne_monitor): componentize node (`#7201 `_) +* feat(velodyne_monitor): componentize node (`#7201 `_) * Contributors: Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* refactor(system-velodyne-monitor): rework parameters (`#5667 `_) +* refactor(system-velodyne-monitor): rework parameters (`#5667 `_) system-velodyne-monitor -* docs(velodyne_monitor): rename readme to README (`#4224 `_) -* build: mark autoware_cmake as (`#3616 `_) +* docs(velodyne_monitor): rename readme to README (`#4224 `_) +* 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 @@ -74,14 +80,14 @@ Changelog for package autoware_velodyne_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(velodyne_monitor): add fmt package to dependencies (`#3069 `_) +* fix(velodyne_monitor): add fmt package to dependencies (`#3069 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* docs(velodyne_monitor): add known limits (`#1802 `_) +* docs(velodyne_monitor): add known limits (`#1802 `_) * docs(velodyne_monitor): add known limits * Update Readme.md -* fix(velodyne_monitor): add temp_hot\_*** to 20 (`#1744 `_) +* fix(velodyne_monitor): add temp_hot\_*** to 20 (`#1744 `_) fix(velodyne_monitor): add 20 to temp_hot\_*** -* fix(velodyne monitor): fix warning and error threshold of hot temperature (`#1623 `_) +* fix(velodyne monitor): fix warning and error threshold of hot temperature (`#1623 `_) * fix(velodyne_monitor): fix warning and error threshold of hot temperature * doc: update README * doc: fix typo @@ -90,41 +96,41 @@ Changelog for package autoware_velodyne_monitor * Update Readme.md * Update Readme.md * fix: typo -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add velodyne_monitor package (`#17 `_) - * Ros2 v0.8.0 velodyne monitor (`#285 `_) - * Rename ROS-related .yaml to .param.yaml (`#352 `_) +* feat: add velodyne_monitor package (`#17 `_) + * Ros2 v0.8.0 velodyne monitor (`#285 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * add use_sim-time option (`#454 `_) - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Add exception handling for extract_json() (`#1779 `_) + * add use_sim-time option (`#454 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Add exception handling for extract_json() (`#1779 `_) * Add exception handling for extract_json() * Add diagnostics error when catching exception Co-authored-by: Takayuki AKAMINE - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * Fix compiler warnings (`#1837 `_) + * Fix compiler warnings (`#1837 `_) * Fix -Wunused-private-field * Fix -Wunused-variable * Fix -Wformat-security @@ -139,13 +145,13 @@ Changelog for package autoware_velodyne_monitor * Ignore -Wno-deprecated-declarations in CUDA-related packages * Fix mistake * Fix -Wunused-parameter - * Remove duplicated update (`#2072 `_) (`#2084 `_) + * Remove duplicated update (`#2072 `_) (`#2084 `_) Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * Fix velodyne monitor config file variable name (`#2090 `_) (`#2092 `_) + * Fix velodyne monitor config file variable name (`#2090 `_) (`#2092 `_) Co-authored-by: j4tfwm6z Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: j4tfwm6z - * Change formatter to clang-format and black (`#2332 `_) + * 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 @@ -157,9 +163,9 @@ Changelog for package autoware_velodyne_monitor * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) - * [Velodyne monitor]add readme (`#570 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * [Velodyne monitor]add readme (`#570 `_) * add readme * change the description * Update system/velodyne_monitor/Readme.md diff --git a/system/autoware_velodyne_monitor/package.xml b/system/autoware_velodyne_monitor/package.xml index 247cf3acddc73..36aca346a2ac6 100644 --- a/system/autoware_velodyne_monitor/package.xml +++ b/system/autoware_velodyne_monitor/package.xml @@ -2,7 +2,7 @@ autoware_velodyne_monitor - 0.42.0 + 0.43.0 The autoware_velodyne_monitor package Fumihito Ito Junya Sasaki diff --git a/tools/reaction_analyzer/CHANGELOG.rst b/tools/reaction_analyzer/CHANGELOG.rst index 786c9dcf67557..87398d14f37a0 100644 --- a/tools/reaction_analyzer/CHANGELOG.rst +++ b/tools/reaction_analyzer/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package reaction_analyzer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -23,22 +29,22 @@ Changelog for package reaction_analyzer 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - tools (`#9574 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - tools (`#9574 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -48,9 +54,9 @@ Changelog for package reaction_analyzer 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -61,30 +67,30 @@ Changelog for package reaction_analyzer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* docs(reaction_analyzer): update bag files and the README (`#8633 `_) +* docs(reaction_analyzer): update bag files and the README (`#8633 `_) * docs(reaction_analyzer): update bag files and the README -* fix(reaction_analyzer): fix include hierarchy of tf2_eigen (`#8663 `_) +* fix(reaction_analyzer): fix include hierarchy of tf2_eigen (`#8663 `_) Fixed include hierarchy of tf2_eigen -* fix(reaction_analyzer): fix variableScope (`#8450 `_) +* fix(reaction_analyzer): fix variableScope (`#8450 `_) * fix:variableScope * fix:clang format --------- -* fix(reaction_analyzer): fix constVariableReference (`#8063 `_) +* fix(reaction_analyzer): fix constVariableReference (`#8063 `_) * fix:constVariableReference * fix:constVariableReference * fix:constVariableReference * fix:suppression constVariableReference --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for tools (`#7250 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for tools (`#7250 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response (`#5954 `_) +* feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response (`#5954 `_) * feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response * feat: implement message_filters package, clean up * feat: update style and readme diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml index 5d78ff12dd929..f641ba2b3b5ee 100644 --- a/tools/reaction_analyzer/package.xml +++ b/tools/reaction_analyzer/package.xml @@ -2,7 +2,7 @@ reaction_analyzer - 0.42.0 + 0.43.0 Analyzer that measures reaction times of the nodes Berkay Karaman diff --git a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst index 9870a377c4703..d1815cffc45ca 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst +++ b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_accel_brake_map_calibrator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,31 +25,31 @@ Changelog for package autoware_accel_brake_map_calibrator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_accel_brake_map_calibrator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_accel_brake_map_calibrator (`#9923 `_) +* feat(autoware_accel_brake_map_calibrator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_accel_brake_map_calibrator (`#9923 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Contributors: Fumiya Watanabe, Vishal Chauhan 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - vehicle (`#9575 `_) -* ci(pre-commit): autoupdate (`#8949 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - vehicle (`#9575 `_) +* ci(pre-commit): autoupdate (`#8949 `_) Co-authored-by: M. Fatih Cırıt * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -53,9 +59,9 @@ Changelog for package autoware_accel_brake_map_calibrator 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -66,7 +72,7 @@ Changelog for package autoware_accel_brake_map_calibrator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (`#8593 `_) +* feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (`#8593 `_) * fix: Conditional Actuation Data Processing Based on Source * style(pre-commit): autofix * delete extra comentout, indent @@ -74,20 +80,20 @@ Changelog for package autoware_accel_brake_map_calibrator * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autowre_accel_brake_map_calibrator): fix for flake-ros v0.9.0 (`#8529 `_) -* fix(autoware_accel_brake_map_calibrator): fix redundantInitialization (`#8230 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(autowre_accel_brake_map_calibrator): fix for flake-ros v0.9.0 (`#8529 `_) +* fix(autoware_accel_brake_map_calibrator): fix redundantInitialization (`#8230 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(accel_brake_map_calibrator): replace polling takeData function with the callback function (`#7429 `_) +* feat(accel_brake_map_calibrator): replace polling takeData function with the callback function (`#7429 `_) * fix : repush to solve conflict * style(pre-commit): autofix * delete duplicated int cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) * add prefix to the codes change dir name update diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml index 1129ff44ea0db..3b50d2a975e16 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/package.xml +++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml @@ -2,7 +2,7 @@ autoware_accel_brake_map_calibrator - 0.42.0 + 0.43.0 The accel_brake_map_calibrator Tomoya Kimura Taiki Tanaka diff --git a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst index 55156a8dc03cf..0fe3f3804fd3f 100644 --- a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_external_cmd_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,22 +28,22 @@ Changelog for package autoware_external_cmd_converter 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - vehicle (`#9575 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - vehicle (`#9575 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -47,9 +53,9 @@ Changelog for package autoware_external_cmd_converter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -60,18 +66,18 @@ Changelog for package autoware_external_cmd_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_external_cmd_converter): add ext cmd converter tests (`#9118 `_) +* feat(autoware_external_cmd_converter): add ext cmd converter tests (`#9118 `_) * add ext cmd converter tests * add briefs to describe the tests * update tests and add nan and inf check --------- -* refactor(autoware_external_cmd_converter): add explanation about external control commands (`#8224 `_) +* refactor(autoware_external_cmd_converter): add explanation about external control commands (`#8224 `_) * refactor(autoware_external_cmd_converter): add explanation about external control commands * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Tomoya Kimura -* fix(autoware_external_cmd_converter): fix check_topic_state (`#7921 `_) +* fix(autoware_external_cmd_converter): fix check_topic_state (`#7921 `_) * fix(autoware_external_cmd_converter): fix check_topic_state * style(pre-commit): autofix * Update vehicle/autoware_external_cmd_converter/src/node.cpp @@ -81,10 +87,10 @@ Changelog for package autoware_external_cmd_converter Co-authored-by: shtokuda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) +* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) * add prefix to the code * rename * fix diff --git a/vehicle/autoware_external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml index 4e7a8b24452bb..0fa12abfdd384 100644 --- a/vehicle/autoware_external_cmd_converter/package.xml +++ b/vehicle/autoware_external_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_external_cmd_converter - 0.42.0 + 0.43.0 The autoware_external_cmd_converter package Takamasa Horibe Eiki Nagata diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst index bf88c75f5e6cb..0bf73049f3682 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst @@ -2,16 +2,22 @@ Changelog for package autoware_raw_vehicle_cmd_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* fix: add missing includes to autoware_universe_utils (`#10091 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* fix: add missing includes to autoware_universe_utils (`#10091 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -20,11 +26,11 @@ Changelog for package autoware_raw_vehicle_cmd_converter 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_raw_vehicle_cmd_converter)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_raw_vehicle_cmd_converter (`#9924 `_) +* feat(autoware_raw_vehicle_cmd_converter)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_raw_vehicle_cmd_converter (`#9924 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files vehicle/autoware_raw_vehicle_cmd_converter Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* fix(raw_veihicle_converter): fix too long line (`#9716 `_) -* feat(raw_vehicle_cmd_converter): add vehicle adaptor (`#8782 `_) +* fix(raw_veihicle_converter): fix too long line (`#9716 `_) +* feat(raw_vehicle_cmd_converter): add vehicle adaptor (`#8782 `_) * feat(raw_vehicle_cmd_converter): add vehicle adaptor sub operation status * feat(raw_vehicle_cmd_converter): publish vehicle adaptor output @@ -37,22 +43,22 @@ Changelog for package autoware_raw_vehicle_cmd_converter 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* fix(cpplint): include what you use - vehicle (`#9575 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - vehicle (`#9575 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -62,9 +68,9 @@ Changelog for package autoware_raw_vehicle_cmd_converter 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -75,9 +81,9 @@ Changelog for package autoware_raw_vehicle_cmd_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) +* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) swap row and column -* test(raw_vehicle_cmd_converter): add tests (`#8951 `_) +* test(raw_vehicle_cmd_converter): add tests (`#8951 `_) * remove header file according to clangd warning * add test * fix @@ -85,18 +91,18 @@ Changelog for package autoware_raw_vehicle_cmd_converter * apply clang tidy * fix test content --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) +* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) * align autoware_raw_vehicle_cmd_converter's parameter * align start_planner's parameter --------- -* fix(raw_vehicle_cmd_converter): fix convert_steer_cmd_method condition (`#8813 `_) -* fix(raw_vehicle_cmd_converter): fix null check (`#8677 `_) -* chore(raw_vehicle_cmd_converter): add maintainer (`#8671 `_) -* feat(raw_vehicle_cmd_converter): set convert_actuation_to_steering_status false by default (`#8668 `_) -* feat(raw_vehicle_cmd_converter): disable actuation to steering (`#8588 `_) -* feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (`#8504 `_) +* fix(raw_vehicle_cmd_converter): fix convert_steer_cmd_method condition (`#8813 `_) +* fix(raw_vehicle_cmd_converter): fix null check (`#8677 `_) +* chore(raw_vehicle_cmd_converter): add maintainer (`#8671 `_) +* feat(raw_vehicle_cmd_converter): set convert_actuation_to_steering_status false by default (`#8668 `_) +* feat(raw_vehicle_cmd_converter): disable actuation to steering (`#8588 `_) +* feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (`#8504 `_) * feat(raw_vehicle_cmd_converter): add steer command conversion with VGR * make class and add test * remove member vgr_coef from node @@ -109,17 +115,17 @@ Changelog for package autoware_raw_vehicle_cmd_converter * add comment for using normal sub for steering status --------- Co-authored-by: Takamasa Horibe -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(raw_vehicle_cmd_converter): use polling subscriber (`#7319 `_) +* feat(raw_vehicle_cmd_converter): use polling subscriber (`#7319 `_) * replace subscription * fix document * sum up functions * add maintainer --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) * add prefix to the codes change dir name update @@ -130,7 +136,7 @@ Changelog for package autoware_raw_vehicle_cmd_converter * restore * poi --------- -* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) +* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) * add prefix * fix other packages * fix cppcheck diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/README.md b/vehicle/autoware_raw_vehicle_cmd_converter/README.md index a4d72a684e7d3..05cdb23dc4b0d 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/README.md +++ b/vehicle/autoware_raw_vehicle_cmd_converter/README.md @@ -22,7 +22,7 @@ Once the acceleration map is crafted, it should be loaded when the RawVehicleCmd ### Auto-Calibration Tool -For ease of calibration and adjustments to the lookup table, an auto-calibration tool is available. More information and instructions for this tool can be found [here](https://github.com/autowarefoundation/autoware.universe/blob/main/vehicle/autoware_accel_brake_map_calibrator/README.md). +For ease of calibration and adjustments to the lookup table, an auto-calibration tool is available. More information and instructions for this tool can be found [here](https://github.com/autowarefoundation/autoware_universe/blob/main/vehicle/autoware_accel_brake_map_calibrator/README.md). ### Variable Gear Ratio (VGR) diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml index d2e13103012bf..1ee44958a3c8a 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_raw_vehicle_cmd_converter - 0.42.0 + 0.43.0 The autoware_raw_vehicle_cmd_converter package Takamasa Horibe Tanaka Taiki diff --git a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst index b2bb5283c20e7..6bb55f254a5d3 100644 --- a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst +++ b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package autoware_steer_offset_estimator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +25,7 @@ Changelog for package autoware_steer_offset_estimator 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_steer_offset_estimator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_steer_offset_estimator (`#9926 `_) +* feat(autoware_steer_offset_estimator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_steer_offset_estimator (`#9926 `_) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files vehicle/autoware_steer_offset_estimator Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Contributors: Fumiya Watanabe, Vishal Chauhan @@ -27,22 +33,22 @@ Changelog for package autoware_steer_offset_estimator 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* chore(package.xml): bump version to 0.39.0 (`#9587 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) * chore(package.xml): bump version to 0.39.0 * fix: fix ticket links in CHANGELOG.rst * fix: remove unnecessary diff --------- Co-authored-by: Yutaka Kondo -* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) -* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) * 0.39.0 * update changelog -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -52,9 +58,9 @@ Changelog for package autoware_steer_offset_estimator 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -65,15 +71,15 @@ Changelog for package autoware_steer_offset_estimator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) +* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) * add autoware\_ prefix * use target_include_directories instead --------- Co-authored-by: SakodaShintaro -* fix(steer_offset_estimator): fix link to json schema in README (`#7655 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(steer_offset_estimator): fix link to json schema in README (`#7655 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -108,7 +114,7 @@ Changelog for package autoware_steer_offset_estimator * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* chore(steer_offset_estimator): add prefix autoware\_ to steer_offset_estimator (`#7342 `_) +* chore(steer_offset_estimator): add prefix autoware\_ to steer_offset_estimator (`#7342 `_) * add perfix * fix directory structrue * fix include guard diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml index 828ad1c49db43..6ed4a47376f15 100644 --- a/vehicle/autoware_steer_offset_estimator/package.xml +++ b/vehicle/autoware_steer_offset_estimator/package.xml @@ -1,7 +1,7 @@ autoware_steer_offset_estimator - 0.42.0 + 0.43.0 The steer_offset_estimator Taiki Tanaka Apache License 2.0 diff --git a/visualization/autoware_bag_time_manager_rviz_plugin/CHANGELOG.rst b/visualization/autoware_bag_time_manager_rviz_plugin/CHANGELOG.rst index a3d6e2f83fe35..cab318fc92e6b 100644 --- a/visualization/autoware_bag_time_manager_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_bag_time_manager_rviz_plugin/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_bag_time_manager_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,7 +22,7 @@ Changelog for package autoware_bag_time_manager_rviz_plugin 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: apply `autoware\_` prefix for `bag_time_manager_rviz_plugin` (`#9986 `_) +* feat: apply `autoware\_` prefix for `bag_time_manager_rviz_plugin` (`#9986 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: SakodaShintaro Co-authored-by: Ryohsuke Mitsudome @@ -25,16 +31,16 @@ Changelog for package autoware_bag_time_manager_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -49,8 +55,8 @@ Changelog for package autoware_bag_time_manager_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* build(iron): remove rmw_qos_profile_t (`#3809 `_) -* build: mark autoware_cmake as (`#3616 `_) +* build(iron): remove rmw_qos_profile_t (`#3809 `_) +* 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 @@ -58,9 +64,9 @@ Changelog for package autoware_bag_time_manager_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(bag_time_manager_rviz_plugin): update create_client API to use rc… (`#2783 `_) +* fix(bag_time_manager_rviz_plugin): update create_client API to use rc… (`#2783 `_) * fix(bag_time_manager_rviz_plugin): update create_client API to use rclcpp::QoS -* feat(bag_time_manager_rviz_plugin): add bag time manager rviz plugin (`#1776 `_) +* feat(bag_time_manager_rviz_plugin): add bag time manager rviz plugin (`#1776 `_) * feat(bag_timemanager): add bag time manager rviz plugin * fix: fix change * Contributors: Daisuke Nishimatsu, Esteve Fernandez, Vincent Richard, taikitanaka3 diff --git a/visualization/autoware_bag_time_manager_rviz_plugin/package.xml b/visualization/autoware_bag_time_manager_rviz_plugin/package.xml index 725a2a3e94568..f271c84574729 100644 --- a/visualization/autoware_bag_time_manager_rviz_plugin/package.xml +++ b/visualization/autoware_bag_time_manager_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_bag_time_manager_rviz_plugin - 0.42.0 + 0.43.0 Rviz plugin to publish and control the ros bag Taiki Tanaka Junya Sasaki diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst index 83b595e05520c..2271be1490d40 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_mission_details_overlay_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,16 +25,16 @@ Changelog for package autoware_mission_details_overlay_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -39,9 +45,9 @@ 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 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 `_) +* 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/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml index 5234d4802d8cc..50c199a6309d3 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml +++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_mission_details_overlay_rviz_plugin - 0.42.0 + 0.43.0 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/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst index 7ac37962ba757..bc6c643b6a1aa 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst @@ -2,12 +2,19 @@ Changelog for package autoware_overlay_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* Contributors: Hayato Mizushima, Ryohsuke Mitsudome, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,7 +23,7 @@ Changelog for package autoware_overlay_rviz_plugin 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(autoware_overlay_rviz_plugin): fix clang-tidy errors (`#9627 `_) +* fix(autoware_overlay_rviz_plugin): fix clang-tidy errors (`#9627 `_) * fix: clang-tidy errors * fix: clang-fmt --------- @@ -25,38 +32,38 @@ Changelog for package autoware_overlay_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix: missing dependency in common components (`#9072 `_) +* fix: missing dependency in common components (`#9072 `_) * Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる 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 `_) +* 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 (`#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 (`#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 @@ -64,17 +71,17 @@ Changelog for package autoware_overlay_rviz_plugin * 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 `_) +* 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 `_) +* 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 `_) +* 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/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt index 95224b9967d4b..f8b88c96016f8 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt @@ -69,7 +69,7 @@ ament_target_dependencies(${PROJECT_NAME} PUBLIC rviz_common rviz_rendering autoware_vehicle_msgs - tier4_planning_msgs + autoware_internal_planning_msgs autoware_perception_msgs ) diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md index 943d566ad109c..f9a81b1011997 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md @@ -20,7 +20,7 @@ This plugin provides a visual and easy-to-understand display of vehicle speed, t | `/vehicle/status/hazard_status` | `autoware_vehicle_msgs::msg::HazardReport` | The topic is status of hazard | | `/vehicle/status/steering_status` | `autoware_vehicle_msgs::msg::SteeringReport` | The topic is status of steering | | `/vehicle/status/gear_status` | `autoware_vehicle_msgs::msg::GearReport` | The topic is status of gear | -| `/planning/scenario_planning/current_max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | The topic is velocity limit | +| `/planning/scenario_planning/current_max_velocity` | `autoware_internal_planning_msgs::msg::VelocityLimit` | The topic is velocity limit | | `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficLightGroupArray` | The topic is status of traffic light | ## Parameter diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp index f8d822473c415..adef792c05040 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp @@ -110,7 +110,8 @@ private Q_SLOTS: rclcpp::Subscription::SharedPtr hazard_lights_sub_; rclcpp::Subscription::SharedPtr traffic_sub_; - rclcpp::Subscription::SharedPtr speed_limit_sub_; + rclcpp::Subscription::SharedPtr + speed_limit_sub_; std::mutex property_mutex_; @@ -121,7 +122,8 @@ private Q_SLOTS: const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg); void updateHazardLightsData( const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg); - void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); + void updateSpeedLimitData( + const autoware_internal_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); void updateTrafficLightData( const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr msg); void drawWidget(QImage & hud); diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp index c88984a4c339f..6aa78b78ff856 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp @@ -24,7 +24,7 @@ #include #include "autoware_vehicle_msgs/msg/velocity_report.hpp" -#include +#include #include #include @@ -41,7 +41,8 @@ class SpeedLimitDisplay QPainter & painter, const QRectF & backgroundRect, const QColor & color, const QColor & light_color, const QColor & dark_color, const QColor & bg_color, const float bg_alpha); - void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); + void updateSpeedLimitData( + const autoware_internal_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg); private: diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml index 0a24292ffd0ec..19ef813cca6d1 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_overlay_rviz_plugin - 0.42.0 + 0.43.0 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). @@ -12,13 +12,13 @@ BSD-3-Clause ament_index_cpp + autoware_internal_planning_msgs autoware_perception_msgs autoware_vehicle_msgs boost rviz_common rviz_ogre_vendor rviz_rendering - tier4_planning_msgs ament_lint_auto autoware_lint_common diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp index 270d1837f2dba..0a1f12426b6bc 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp @@ -121,7 +121,7 @@ void SignalDisplay::onInitialize() speed_limit_topic_property_ = std::make_unique( "Speed Limit Topic", "/planning/scenario_planning/current_max_velocity", - "tier4_planning_msgs/msg/VelocityLimit", "Topic for Speed Limit Data", this, + "autoware_internal_planning_msgs/msg/VelocityLimit", "Topic for Speed Limit Data", this, SLOT(topic_updated_speed_limit())); speed_limit_topic_property_->initialize(rviz_ros_node); @@ -217,7 +217,7 @@ void SignalDisplay::updateTrafficLightData( } void SignalDisplay::updateSpeedLimitData( - const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) + const autoware_internal_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) { std::lock_guard lock(property_mutex_); @@ -438,12 +438,13 @@ void SignalDisplay::topic_updated_speed_limit() speed_limit_sub_.reset(); auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); speed_limit_sub_ = - rviz_ros_node->get_raw_node()->create_subscription( - speed_limit_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(), - [this](const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) { - updateSpeedLimitData(msg); - }); + rviz_ros_node->get_raw_node() + ->create_subscription( + speed_limit_topic_property_->getTopicStd(), + rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(), + [this](const autoware_internal_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) { + updateSpeedLimitData(msg); + }); } void SignalDisplay::topic_updated_turn_signals() diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp index 36b5212c08f75..eeeaf2bdaa9cb 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp @@ -52,7 +52,7 @@ SpeedLimitDisplay::SpeedLimitDisplay() : current_limit(0.0), current_speed_(0.0) } void SpeedLimitDisplay::updateSpeedLimitData( - const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) + const autoware_internal_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) { current_limit = msg->max_velocity; } diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/CHANGELOG.rst index 44e25249f94ef..d09397fb9833b 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package autoware_string_stamped_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,8 +22,8 @@ Changelog for package autoware_string_stamped_rviz_plugin 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(autoware_string_stamped_overlay_rviz_plugin): fix version in package.xml (`#9874 `_) -* feat(autoware_overlay_rviz_plugin): add plugin to show string stamped (`#9683 `_) +* chore(autoware_string_stamped_overlay_rviz_plugin): fix version in package.xml (`#9874 `_) +* feat(autoware_overlay_rviz_plugin): add plugin to show string stamped (`#9683 `_) * feat(autoware_overlay_rviz_plugin): add plugin to show string stamped * fix * better visualization @@ -29,8 +35,8 @@ Changelog for package autoware_string_stamped_rviz_plugin * Contributors: Fumiya Watanabe, Takayuki Murooka * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore(autoware_string_stamped_overlay_rviz_plugin): fix version in package.xml (`#9874 `_) -* feat(autoware_overlay_rviz_plugin): add plugin to show string stamped (`#9683 `_) +* chore(autoware_string_stamped_overlay_rviz_plugin): fix version in package.xml (`#9874 `_) +* feat(autoware_overlay_rviz_plugin): add plugin to show string stamped (`#9683 `_) * feat(autoware_overlay_rviz_plugin): add plugin to show string stamped * fix * better visualization diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/package.xml index 297e8ef355ad4..1299a4dba54f7 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/package.xml +++ b/visualization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_string_stamped_rviz_plugin - 0.42.0 + 0.43.0 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). diff --git a/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst index e4d3b85c13fff..8219eddbf2439 100644 --- a/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst @@ -2,10 +2,16 @@ Changelog for package autoware_perception_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* chore: refine maintainer list (`#10110 `_) +* chore: refine maintainer list (`#10110 `_) * chore: remove Miura from maintainer * chore: add Taekjin-san to perception_utils package maintainer --------- @@ -13,7 +19,7 @@ Changelog for package autoware_perception_rviz_plugin 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -25,16 +31,16 @@ Changelog for package autoware_perception_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -45,35 +51,35 @@ 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(autoware_perception_rviz_plugin): fix unusedFunction (`#8784 `_) fix: unusedFunction -* feat(autoware_perception_rviz_plugin): rviz predicted path mark as triangle (`#8536 `_) +* 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(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 `_) +* 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 `_) +* 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 (`#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 `_) +* feat: add rviz plugin packages (`#3 `_) * release v0.4.0 * remove ROS1 packages temporarily * add sample ros2 packages @@ -81,55 +87,55 @@ Changelog for package autoware_perception_rviz_plugin * Revert "remove ROS1 packages temporarily" This reverts commit 7eacbcea261a65d6c305c7b0d069591ca3a2ee3a. * add COLCON_IGNORE to ros1 packages - * Port autoware-perception-rviz-plugin (`#100 `_) + * Port autoware-perception-rviz-plugin (`#100 `_) * Port to ROS2 * Update namespaces - * Port autoware-planning-rviz-plugin (`#103 `_) + * 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 `_) + * 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 (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * Fix rviz plugins (`#175 `_) + * 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 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 `_) + * 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 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 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 `_) + * 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 `_) + * 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 @@ -137,7 +143,7 @@ Changelog for package autoware_perception_rviz_plugin - cosmetic changes according to Google C++ Style Guide - use the range-based for statement - replace push_back with emplace_back - See also: `#932 `_, `#964 `_ + See also: `#932 `_, `#964 `_ * Apply clang-format * Change a variable name to clarify: history -> histories * add build testing @@ -147,28 +153,28 @@ Changelog for package autoware_perception_rviz_plugin 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 `_) + * 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 `_) + * 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 `_) + * 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 `_) + * 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 @@ -177,24 +183,24 @@ Changelog for package autoware_perception_rviz_plugin * fix build failure * fix test failures * address review commends - * Ros2 v0.9.0 pose history (`#387 `_) + * Ros2 v0.9.0 pose history (`#387 `_) * Port pose history to ROS2 - * pose_history (`#1169 `_) + * pose_history (`#1169 `_) * change pkg name * add alpha Co-authored-by: Yukihiro Saito - * fix max velocity visualization (`#397 `_) + * fix max velocity visualization (`#397 `_) * fix max velocity vis * apply lint-format - * Ros2 rtd plugin (`#444 `_) + * Ros2 rtd plugin (`#444 `_) * Use RTD instead of MFD - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * 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 `_) + * 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 @@ -202,7 +208,7 @@ Changelog for package autoware_perception_rviz_plugin * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * 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 @@ -212,19 +218,19 @@ Changelog for package autoware_perception_rviz_plugin * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * 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 `_) + * 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 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -238,29 +244,29 @@ Changelog for package autoware_perception_rviz_plugin 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 `_) + * 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 `_) + * modify visibility of velocity (`#1258 `_) * fix plugin * add dependency Co-authored-by: Takayuki Murooka Co-authored-by: tomoya.kimura - * Fix msgs (`#1379 `_) + * 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 `_) + * 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 `_) + * 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 (`#1560 `_) * add pre-commit * add pre-commit-config * add additional settings for private repository @@ -280,18 +286,18 @@ Changelog for package autoware_perception_rviz_plugin 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 (`#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 `_) + * 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-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -305,7 +311,7 @@ Changelog for package autoware_perception_rviz_plugin * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * add autoware_state_rviz_plugin (`#2160 `_) + * add autoware_state_rviz_plugin (`#2160 `_) * initial commit * fix * use raw pointer @@ -314,11 +320,11 @@ Changelog for package autoware_perception_rviz_plugin * fix style * fix style * fix header arrangement - * add gear check and prefix label (`#2173 `_) + * add gear check and prefix label (`#2173 `_) * add gear and prefix label * add subscription * fix for cpplint - * add engage button and status (`#2257 `_) + * add engage button and status (`#2257 `_) * fix style * add engage button and engage status * use api @@ -328,14 +334,14 @@ Changelog for package autoware_perception_rviz_plugin * fix for cpplint * fix for cpplint * fix coding style - * Add datetime panel (`#2275 `_) + * Add datetime panel (`#2275 `_) * Add datetime panel - * Fix/ros time (`#2276 `_) + * 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 (`#1553 `_) (`#1684 `_) + * add footprint in trajectory msg of rviz plugin (`#1553 `_) * add footprint in trajectory msg of rviz plugin * update * trajectory -> footprint @@ -346,11 +352,11 @@ Changelog for package autoware_perception_rviz_plugin * update * Add min value Co-authored-by: Takayuki Murooka - * Feature/trajectory point rviz plugin (`#2123 `_) + * 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 `_) + * 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 @@ -362,27 +368,27 @@ Changelog for package autoware_perception_rviz_plugin * 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 `_) + * 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 `_) + * 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 `_) + * 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 `_) + * 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 @@ -394,7 +400,7 @@ Changelog for package autoware_perception_rviz_plugin 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 + * [`#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. @@ -403,9 +409,9 @@ Changelog for package autoware_perception_rviz_plugin * 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 + * [`#286 `_] Parameterize boundingbox colors from rviz - Add visualization colours via Qt - * [`#813 `_] use autoware_set_compile_options() for nearly all compiled tests + * [`#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 @@ -413,13 +419,13 @@ Changelog for package autoware_perception_rviz_plugin - 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 + * [`#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 + * [`#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 @@ -455,19 +461,19 @@ Changelog for package autoware_perception_rviz_plugin 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 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 (`#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 (`#646 `_) * adapt to actuation cmd/status as control msg * fix readme * fix topics @@ -478,35 +484,35 @@ Changelog for package autoware_perception_rviz_plugin * revert gyro_odometer_change * revert twist topic change * revert unchanged package - * FIx vehicle status topic name/type (`#658 `_) + * 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 `_) + * 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 `_) + * 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 `_) + * 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 `_) + * 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 (`#2200 `_) * fix map based prediction * fix format * change map based prediction @@ -537,18 +543,18 @@ Changelog for package autoware_perception_rviz_plugin 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 `_) + * 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 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 `_) + * 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 @@ -583,8 +589,8 @@ Changelog for package autoware_perception_rviz_plugin * precommit fix * cpplint Co-authored-by: Yukihiro Saito - * sync rc rc/v0.23.0 (`#2281 `_) - * Fix side shift planner (`#2171 `_) (`#2172 `_) + * 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 @@ -592,11 +598,11 @@ Changelog for package autoware_perception_rviz_plugin * Fix remove threshold Co-authored-by: Fumiya Watanabe Co-authored-by: Takamasa Horibe - * Fix/pull out and pull over (`#2175 `_) + * 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 `_) + * Add emergency status API (`#2174 `_) (`#2182 `_) + * Fix/mpc reset prev result (`#2185 `_) (`#2195 `_) * reset prev result * clean code * reset only raw_steer_cmd @@ -604,37 +610,37 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe - * [hotfix] 1 path point exception after resampling (`#2204 `_) + * [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 `_) + * [hotfix] Fix lane ids (`#2211 `_) * Fix lane ids - * Prevent acceleration on avoidance (`#2214 `_) + * 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 `_) + * 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 `_) + * [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 `_) + * 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 `_) + * fix index (`#2265 `_) + * turn signal calculation (`#2280 `_) * add turn signal funtion in path shifter * add ros parameters Co-authored-by: Fumiya Watanabe @@ -646,7 +652,7 @@ Changelog for package autoware_perception_rviz_plugin 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 `_) + * [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 @@ -662,13 +668,13 @@ Changelog for package autoware_perception_rviz_plugin 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 `_) + * 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 guard (`#2321 `_) + * reduce cost (double to float) (`#2298 `_) + * Add detail collision check (`#2274 `_) * Add detail collision check * Remove unused function * Fix arc length @@ -679,7 +685,7 @@ Changelog for package autoware_perception_rviz_plugin * Run pre-commit * Fix cpplint * Add return for empty polygon - * update CenterPoint (`#2222 `_) + * update CenterPoint (`#2222 `_) * update to model trained by mmdet3d * add vizualizer (debug) * for multi-frame inputs @@ -696,7 +702,7 @@ Changelog for package autoware_perception_rviz_plugin * chage lint package * fix test error * commit suggestion - * Feature/lane change detection (`#2331 `_) + * Feature/lane change detection (`#2331 `_) * add old information deleter * fix access bug * change to deque @@ -718,7 +724,7 @@ Changelog for package autoware_perception_rviz_plugin * change funciton name * add lane change description Co-authored-by: Kazuki Miyahara - * Add Planning Evaluator (`#2293 `_) + * 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 @@ -754,12 +760,12 @@ Changelog for package autoware_perception_rviz_plugin * 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 (`#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 `_) + * 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 @@ -779,27 +785,27 @@ Changelog for package autoware_perception_rviz_plugin * 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 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 `_) + * 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 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 `_)" + * Revert "[mpc_follower] remove stop distance condition from stopState decision (`#1916 `_)" This reverts commit ff4f0b5a844d1f835f1b93bd3b36a76747b0cd02. - * Revert "Add keep braking function at driving state (`#2346 `_)" + * 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 `_)" + * 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 @@ -829,17 +835,17 @@ Changelog for package autoware_perception_rviz_plugin 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 `_) + * [autoware_auto_perception_rviz_plugin]fix bug (`#721 `_) * fix perception_marker * fix missing commit * apply format - * patch for PR721 (`#722 `_) + * 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 `_) + * fix rviz plugin (`#743 `_) * move plugin packages * add ignore file to apply pre-commit Co-authored-by: mitsudome-r diff --git a/visualization/autoware_perception_rviz_plugin/package.xml b/visualization/autoware_perception_rviz_plugin/package.xml index 037823bb1396e..e93be4284589b 100644 --- a/visualization/autoware_perception_rviz_plugin/package.xml +++ b/visualization/autoware_perception_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_perception_rviz_plugin - 0.42.0 + 0.43.0 Contains plugins to visualize object detection outputs Apex.AI, Inc. Taiki Tanaka diff --git a/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst index 9fa0368c2e4f5..4b9d27a064105 100644 --- a/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package tier4_adapi_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,23 +22,23 @@ Changelog for package tier4_adapi_rviz_plugin 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat: operation mode debug panel (`#8933 `_) +* feat: operation mode debug panel (`#8933 `_) * Contributors: Fumiya Watanabe, Takagi, Isamu 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) * refactor(autoware_ad_api_specs): prefix package and namespace with autoware * style(pre-commit): autofix * chore(autoware_adapi_specs): rename ad_api to adapi @@ -42,41 +48,41 @@ Changelog for package tier4_adapi_rviz_plugin * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(tier4_adapi_rviz_plugin): fix unusedFunction (`#8840 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(tier4_adapi_rviz_plugin): fix unusedFunction (`#8840 `_) fix:unusedFunction -* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) +* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) set timestamp to velocity_limit msg -* feat(tier4_adapi_rviz_plugin): add legacy state panel (`#7494 `_) +* feat(tier4_adapi_rviz_plugin): add legacy state panel (`#7494 `_) * Contributors: Autumn60, Khalil Selyan, Takagi, Isamu, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* feat(default_ad_api): add door api (`#5737 `_) -* feat(tier4_adapi_rviz_plugin): add change button to the route panel (`#6326 `_) +* feat(default_ad_api): add door api (`#5737 `_) +* feat(tier4_adapi_rviz_plugin): add change button to the route panel (`#6326 `_) feat(tier4_adapi_rviz_plugin): add route change button to the route panel -* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) -* style(update): autoware tools icons (`#6351 `_) -* feat(tier4_adapi_rviz_plugin): add route panel (`#3840 `_) +* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) +* style(update): autoware tools icons (`#6351 `_) +* feat(tier4_adapi_rviz_plugin): add route panel (`#3840 `_) * feat: add panel * feat: set route * feat: set waypoints * feat: add readme * fix: copyright --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -84,7 +90,7 @@ Changelog for package tier4_adapi_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(tier4_adapi_rviz_plugin): add adapi rviz plugin (`#3380 `_) +* feat(tier4_adapi_rviz_plugin): add adapi rviz plugin (`#3380 `_) * feat(tier4_adapi_rviz_plugin): add adapi rviz plugin * feat: fix copyright and name --------- diff --git a/visualization/tier4_adapi_rviz_plugin/package.xml b/visualization/tier4_adapi_rviz_plugin/package.xml index 8d88b8a4a7f95..0d4198832072a 100644 --- a/visualization/tier4_adapi_rviz_plugin/package.xml +++ b/visualization/tier4_adapi_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_adapi_rviz_plugin - 0.42.0 + 0.43.0 The autoware adapi rviz plugin package Takagi, Isamu Hiroki OTA diff --git a/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst index 27c7bac6e1049..9e25bc51db439 100644 --- a/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package tier4_camera_view_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,7 +22,7 @@ Changelog for package tier4_camera_view_rviz_plugin 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(tier4_camera_view_rviz_plugin): fix bugprone-parent-virtual-call (`#9815 `_) +* fix(tier4_camera_view_rviz_plugin): fix bugprone-parent-virtual-call (`#9815 `_) * fix:bugprone-error * fix:fmt --------- @@ -25,17 +31,17 @@ Changelog for package tier4_camera_view_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) * refactor(autoware_ad_api_specs): prefix package and namespace with autoware * style(pre-commit): autofix * chore(autoware_adapi_specs): rename ad_api to adapi @@ -45,43 +51,43 @@ Changelog for package tier4_camera_view_rviz_plugin * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_camera_view_rviz_plugin): fix unmatchedSuppression (`#8918 `_) +* fix(tier4_camera_view_rviz_plugin): fix unmatchedSuppression (`#8918 `_) fix:unmatchedSuppression -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8843 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8843 `_) fix:unusedFunction -* fix(tier4_camera_view_rviz_plugin): fix uninitMemberVar (`#8819 `_) +* fix(tier4_camera_view_rviz_plugin): fix uninitMemberVar (`#8819 `_) * fix:uninitMemberVar * fix:clang format --------- -* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8639 `_) +* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8639 `_) * fix:unusedFunction * fix:clang format * fix:unusedFunction --------- -* fix: replace Ogre deprecated header (`#7606 `_) +* fix: replace Ogre deprecated header (`#7606 `_) Fix Ogre deprecated header Co-authored-by: Kotaro Yoshimoto -* fix(tier4_camera_view_rviz_plugin): fix funcArgNamesDifferent warnings (`#7621 `_) +* fix(tier4_camera_view_rviz_plugin): fix funcArgNamesDifferent warnings (`#7621 `_) * Contributors: Khalil Selyan, Ryuta Kambe, Yutaka Kondo, kobayu858, ぐるぐる 0.26.0 (2024-04-03) ------------------- -* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) -* style(update): autoware tools icons (`#6351 `_) -* feat(camera_view_plugin): add camera view plugin package (`#5472 `_) +* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) +* style(update): autoware tools icons (`#6351 `_) +* feat(camera_view_plugin): add camera view plugin package (`#5472 `_) * add camera view plugin package * add readme for short cut * style(pre-commit): autofix diff --git a/visualization/tier4_camera_view_rviz_plugin/package.xml b/visualization/tier4_camera_view_rviz_plugin/package.xml index 0942b741cd983..e1d9be818dc9d 100644 --- a/visualization/tier4_camera_view_rviz_plugin/package.xml +++ b/visualization/tier4_camera_view_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_camera_view_rviz_plugin - 0.42.0 + 0.43.0 The autoware camera view rviz plugin package Yuxuan Liu Makoto Yabuta diff --git a/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst index f639e38acc771..07efac86c47f8 100644 --- a/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package tier4_datetime_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,16 +25,16 @@ Changelog for package tier4_datetime_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -43,11 +49,11 @@ Changelog for package tier4_datetime_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -55,25 +61,25 @@ Changelog for package tier4_datetime_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: add api maintainers (`#2361 `_) -* refactor(tier4_datetime_rviz_plugin): apply clang-tidy (`#1605 `_) +* chore: add api maintainers (`#2361 `_) +* refactor(tier4_datetime_rviz_plugin): apply clang-tidy (`#1605 `_) * refactor(tier4_datetime_rviz_plugin): apply clang-tidy * refactor: apply readability-identifier-naming -* fix: remove unused check of rviz plugin version (`#1474 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* chore: sync files (`#629 `_) +* style: fix format of package.xml (`#844 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/visualization/tier4_datetime_rviz_plugin/package.xml b/visualization/tier4_datetime_rviz_plugin/package.xml index 73ff68a3bf452..0d5d0cd3a8df6 100644 --- a/visualization/tier4_datetime_rviz_plugin/package.xml +++ b/visualization/tier4_datetime_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_datetime_rviz_plugin - 0.42.0 + 0.43.0 The tier4_datetime_rviz_plugin package Takagi, Isamu Apache License 2.0 diff --git a/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst index 19e53ce5c3f4f..2e4577b271e00 100644 --- a/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package tier4_localization_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,16 +25,16 @@ Changelog for package tier4_localization_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -39,22 +45,22 @@ Changelog for package tier4_localization_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_localization_rviz_plugin): fix unmatchedSuppression (`#8919 `_) +* fix(tier4_localization_rviz_plugin): fix unmatchedSuppression (`#8919 `_) fix:unmatchedSuppression -* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8848 `_) +* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8848 `_) fix:unusedFunction -* fix(tier4_localization_rviz_plugin): fix constVariableReference (`#8838 `_) +* fix(tier4_localization_rviz_plugin): fix constVariableReference (`#8838 `_) fix:constVariableReference -* fix(tier4_localization_rviz_plugin): fix knownConditionTrueFalse (`#8824 `_) +* fix(tier4_localization_rviz_plugin): fix knownConditionTrueFalse (`#8824 `_) * fix:knownConditionTrueFalse * fix:merge --------- -* refactor(tier4_localization_rviz_plugin): apply static analysis (`#8683 `_) +* refactor(tier4_localization_rviz_plugin): apply static analysis (`#8683 `_) * refactor based on linter * add comment on no lint * mod comment for clarification --------- -* feat(tier4_localization_rviz_plugin): add visualization of pose with covariance history (`#8191 `_) +* feat(tier4_localization_rviz_plugin): add visualization of pose with covariance history (`#8191 `_) * display PoseWithCovariance History * Correct spelling errors and year * Add arrows clear() @@ -64,11 +70,11 @@ Changelog for package tier4_localization_rviz_plugin --------- Co-authored-by: Yamato Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8637 `_) +* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8637 `_) fix:unusedFunction -* chore(tier4_localization_rviz_plugin): add maintainer and author (`#8184 `_) +* chore(tier4_localization_rviz_plugin): add maintainer and author (`#8184 `_) add maintainer and author -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -107,16 +113,16 @@ Changelog for package tier4_localization_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* build: proper eigen deps and include (`#3615 `_) +* build: proper eigen deps and include (`#3615 `_) * build: proper eigen deps and include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -124,23 +130,23 @@ Changelog for package tier4_localization_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_rviz_plugin): add pose history footprint (`#2387 `_) +* feat(tier4_localization_rviz_plugin): add pose history footprint (`#2387 `_) * feat(tier4_localization_rviz_plugin): add pose history footprint * remove unused variables * add maintainer -* chore: add api maintainers (`#2361 `_) -* revert: readability-identifier-naming for pose history (`#1641 `_) +* chore: add api maintainers (`#2361 `_) +* revert: readability-identifier-naming for pose history (`#1641 `_) * revert: readability-identifier-naming for pose history This reverts commit 9278e714bdbd29ca344976e9a2b26fdb93b41370. * Revert "fix: build error" This reverts commit 5e855993250a94494d9a8d05e03097162d4e6e0e. -* refactor(tier4_localization_rviz_plugin): apply clang-tidy (`#1608 `_) +* refactor(tier4_localization_rviz_plugin): apply clang-tidy (`#1608 `_) * refactor(tier4_localization_rviz_plugin): apply clang-tidy * ci(pre-commit): autofix * refactor: add NOLINT @@ -148,25 +154,25 @@ Changelog for package tier4_localization_rviz_plugin * ci(pre-commit): autofix * fix: build error Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_perception_rviz_plugin): apply clang-tidy (`#1624 `_) +* refactor(tier4_perception_rviz_plugin): apply clang-tidy (`#1624 `_) * refactor(tier4_perception_rviz_plugin): apply clang-tidy * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: remove unused check of rviz plugin version (`#1474 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* chore: sync files (`#629 `_) +* style: fix format of package.xml (`#844 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/visualization/tier4_localization_rviz_plugin/package.xml b/visualization/tier4_localization_rviz_plugin/package.xml index 2120a7e125331..2389f32843157 100644 --- a/visualization/tier4_localization_rviz_plugin/package.xml +++ b/visualization/tier4_localization_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_localization_rviz_plugin - 0.42.0 + 0.43.0 The tier4_localization_rviz_plugin package Takagi, Isamu Takamasa Horibe diff --git a/visualization/tier4_planning_factor_rviz_plugin/CHANGELOG.rst b/visualization/tier4_planning_factor_rviz_plugin/CHANGELOG.rst index 371b61fb614c3..ad496d96a8fa2 100644 --- a/visualization/tier4_planning_factor_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_planning_factor_rviz_plugin/CHANGELOG.rst @@ -2,15 +2,22 @@ Changelog for package tier4_planning_factor_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (`#10204 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo, 心刚 + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,7 +26,7 @@ Changelog for package tier4_planning_factor_rviz_plugin 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(rviz): add new plugin to visualize planning factor (`#9999 `_) +* feat(rviz): add new plugin to visualize planning factor (`#9999 `_) * feat(rviz): add new plugin to visualize planning factor * feat(rviz): show safety factors * chore: add maintainer @@ -28,7 +35,7 @@ Changelog for package tier4_planning_factor_rviz_plugin * Contributors: Fumiya Watanabe, Satoshi OTA * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(rviz): add new plugin to visualize planning factor (`#9999 `_) +* feat(rviz): add new plugin to visualize planning factor (`#9999 `_) * feat(rviz): add new plugin to visualize planning factor * feat(rviz): show safety factors * chore: add maintainer diff --git a/visualization/tier4_planning_factor_rviz_plugin/package.xml b/visualization/tier4_planning_factor_rviz_plugin/package.xml index 93c611ba9b966..92a121c48bf66 100644 --- a/visualization/tier4_planning_factor_rviz_plugin/package.xml +++ b/visualization/tier4_planning_factor_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_planning_factor_rviz_plugin - 0.42.0 + 0.43.0 The tier4_planning_factor_rviz_plugin package Satoshi Ota Mamoru Sobue @@ -14,12 +14,12 @@ qtbase5-dev + autoware_internal_planning_msgs autoware_motion_utils autoware_utils autoware_vehicle_info_utils rviz_common rviz_default_plugins - tier4_planning_msgs libqt5-widgets rviz2 diff --git a/visualization/tier4_planning_factor_rviz_plugin/plugins.xml b/visualization/tier4_planning_factor_rviz_plugin/plugins.xml index 7e5b53d2b1d61..d3adcff83409f 100644 --- a/visualization/tier4_planning_factor_rviz_plugin/plugins.xml +++ b/visualization/tier4_planning_factor_rviz_plugin/plugins.xml @@ -2,7 +2,7 @@ tier4_planning_factor_rviz_plugin - tier4_planning_msgs/msg/PlanningFactorArray + autoware_internal_planning_msgs/msg/PlanningFactorArray diff --git a/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.cpp b/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.cpp index 52bba6f9d2736..75e937a6955d5 100644 --- a/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.cpp +++ b/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.cpp @@ -149,14 +149,14 @@ visualization_msgs::msg::MarkerArray createTargetMarker( } // namespace void PlanningFactorRvizPlugin::processMessage( - const tier4_planning_msgs::msg::PlanningFactorArray::ConstSharedPtr msg) + const autoware_internal_planning_msgs::msg::PlanningFactorArray::ConstSharedPtr msg) { size_t i = 0L; for (const auto & factor : msg->factors) { const auto text = factor.module + (factor.detail.empty() ? "" : " (" + factor.detail + ")"); switch (factor.behavior) { - case tier4_planning_msgs::msg::PlanningFactor::STOP: + case autoware_internal_planning_msgs::msg::PlanningFactor::STOP: for (const auto & control_point : factor.control_points) { const auto virtual_wall = createStopVirtualWallMarker( control_point.pose, text, msg->header.stamp, i++, baselink2front_.getFloat()); @@ -164,7 +164,7 @@ void PlanningFactorRvizPlugin::processMessage( } break; - case tier4_planning_msgs::msg::PlanningFactor::SLOW_DOWN: + case autoware_internal_planning_msgs::msg::PlanningFactor::SLOW_DOWN: for (const auto & control_point : factor.control_points) { const auto virtual_wall = createSlowDownVirtualWallMarker( control_point.pose, text, msg->header.stamp, i++, baselink2front_.getFloat()); diff --git a/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.hpp b/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.hpp index f2af16e3e06b1..2d0c78042c07e 100644 --- a/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.hpp +++ b/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.hpp @@ -21,17 +21,18 @@ #include #include -#include +#include #include namespace autoware::rviz_plugins { -using RosTopicDisplay = rviz_common::RosTopicDisplay; +using RosTopicDisplay = + rviz_common::RosTopicDisplay; class PlanningFactorRvizPlugin -: public rviz_common::RosTopicDisplay +: public rviz_common::RosTopicDisplay { public: PlanningFactorRvizPlugin() @@ -46,7 +47,7 @@ class PlanningFactorRvizPlugin RosTopicDisplay::RTDClass::onInitialize(); marker_common_.initialize(this->context_, this->scene_node_); QString message_type = QString::fromStdString( - rosidl_generator_traits::name()); + rosidl_generator_traits::name()); this->topic_property_->setMessageType(message_type); this->topic_property_->setValue(topic_name_.c_str()); this->topic_property_->setDescription("Topic to subscribe to."); @@ -90,7 +91,7 @@ class PlanningFactorRvizPlugin private: void processMessage( - const tier4_planning_msgs::msg::PlanningFactorArray::ConstSharedPtr msg) override; + const autoware_internal_planning_msgs::msg::PlanningFactorArray::ConstSharedPtr msg) override; rviz_default_plugins::displays::MarkerCommon marker_common_; diff --git a/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst index 22837b9f31bbd..275396fdbb728 100644 --- a/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst @@ -2,16 +2,23 @@ Changelog for package tier4_planning_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* Contributors: Hayato Mizushima, Ryohsuke Mitsudome, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) -* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (`#10023 `_) * Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -23,16 +30,16 @@ Changelog for package tier4_planning_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -43,22 +50,22 @@ Changelog for package tier4_planning_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(tier4_planning_rviz_plugin): set path colors from rviz and add fade_out feature (`#8972 `_) +* feat(tier4_planning_rviz_plugin): set path colors from rviz and add fade_out feature (`#8972 `_) Co-authored-by: M. Fatih Cırıt -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(tier4_planning_rviz_plugin): fix unusedFunction (`#8616 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(tier4_planning_rviz_plugin): fix unusedFunction (`#8616 `_) fix:unusedFunction -* fix(tier4_planning_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8377 `_) +* fix(tier4_planning_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8377 `_) fix: deal with virtualCallInConstructor warning Co-authored-by: Ryuta Kambe -* fix(tier4_planning_rviz_plugin): fix calculation of drivable area bounds (`#7815 `_) +* fix(tier4_planning_rviz_plugin): fix calculation of drivable area bounds (`#7815 `_) change angle condition -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -93,45 +100,45 @@ Changelog for package tier4_planning_rviz_plugin * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* 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(tier4_planning_rviz_plugin): memory leak (`#7164 `_) +* fix(tier4_planning_rviz_plugin): memory leak (`#7164 `_) fix memory leak * Contributors: Khalil Selyan, Kosuke Takeuchi, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yukihiro Saito, Yutaka Kondo, beyzanurkaya, kobayu858, taisa1 0.26.0 (2024-04-03) ------------------- -* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) -* style(update): autoware tools icons (`#6351 `_) -* fix(tier4_planning_rviz_plugin): move headers to tier4_planning_rviz_plugin directory (`#5927 `_) +* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) +* style(update): autoware tools icons (`#6351 `_) +* fix(tier4_planning_rviz_plugin): move headers to tier4_planning_rviz_plugin directory (`#5927 `_) * fix(tier4_planning_rviz_plugin): move headers to tier4_planning_rviz_plugin directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(planning modules): remove maintainer... (`#5458 `_) +* chore(planning modules): remove maintainer... (`#5458 `_) remove shimizu-san from maintainer and add maintainer for stop line and turn signal decider -* feat(tier4_planning_rviz_plugin): visualize text of slope angle (`#5091 `_) -* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) -* fix(tier4_planning_rviz_plugin): update vehicle info parameters in panel received from global parameter (`#4907 `_) -* fix: max velocity display (`#4203 `_) +* feat(tier4_planning_rviz_plugin): visualize text of slope angle (`#5091 `_) +* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) +* fix(tier4_planning_rviz_plugin): update vehicle info parameters in panel received from global parameter (`#4907 `_) +* fix: max velocity display (`#4203 `_) fix max velocity display Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* fix(tier4_planning_rviz_plugin): fix plugin crash (`#3830 `_) +* fix(tier4_planning_rviz_plugin): fix plugin crash (`#3830 `_) * preVisualizePathFootPrint is the cause * update ogre_node and text_ptr in each iteration --------- -* fix(tier4_planning_rviz_plugin): fix drivable area width (`#3689 `_) +* fix(tier4_planning_rviz_plugin): fix drivable area width (`#3689 `_) * fix(tier4_planning_rviz_plugin): fix drivable area width * fix --------- -* build: proper eigen deps and include (`#3615 `_) +* build: proper eigen deps and include (`#3615 `_) * build: proper eigen deps and include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -139,53 +146,53 @@ Changelog for package tier4_planning_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(tier4_planning_rviz_plugin): suppress warning (`#3578 `_) -* feat(tier4_planning_rviz_plugin): remove z offset from the bound (`#3551 `_) -* feat(tier4_planning_rviz_plugin): update path width by global parameters (`#3504 `_) +* fix(tier4_planning_rviz_plugin): suppress warning (`#3578 `_) +* feat(tier4_planning_rviz_plugin): remove z offset from the bound (`#3551 `_) +* feat(tier4_planning_rviz_plugin): update path width by global parameters (`#3504 `_) * fix(tier4_planning_rviz_plugin): update vehicle info by global parameters * feat(tier4_planning_rviz_plugin): update path width by global parameters --------- -* fix(tier4_planning_rviz_plugin): update vehicle info by global parameters (`#3503 `_) +* fix(tier4_planning_rviz_plugin): update vehicle info by global parameters (`#3503 `_) * fix(tier4_planning_rviz_plugin): update vehicle info by global parameters * fix --------- -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning_rviz_plugin): supress initial warning message (`#2960 `_) +* fix(tier4_planning_rviz_plugin): supress initial warning message (`#2960 `_) fix(tier4_planning_rviz_plugin): remove initial warning message -* fix(tier4_rviz_planning_plugin): clear objects before return (`#2995 `_) +* fix(tier4_rviz_planning_plugin): clear objects before return (`#2995 `_) * fix(tier4_rviz_planning_plugin): clear objects before return * update --------- -* feat(tier4_planning_rviz_plugin): add maintainer (`#2996 `_) -* feat(tier4_planning_rviz_plugin): move footprint plugin to path (`#2971 `_) +* feat(tier4_planning_rviz_plugin): add maintainer (`#2996 `_) +* feat(tier4_planning_rviz_plugin): move footprint plugin to path (`#2971 `_) * feat(tier4_rviz_plugin): simplify tier4_planning_rviz_plugin * update --------- -* feat(tier4_planning_rviz_plugin): add drivable area plugin (`#2868 `_) +* feat(tier4_planning_rviz_plugin): add drivable area plugin (`#2868 `_) * feat(tier4_planning_rviz_plugin): add drivable area plugin * change default size and color * update * add drivable area to path * update --------- -* feat(tier4_autoware_utils): remove drivable area plugin (`#2876 `_) -* refactor(tier4_planning_rviz_plugin): clean up the code of path (`#2871 `_) +* feat(tier4_autoware_utils): remove drivable area plugin (`#2876 `_) +* refactor(tier4_planning_rviz_plugin): clean up the code of path (`#2871 `_) * refactor(tier4_planning_rviz_plugin): clean up the code of path * fix --------- -* refactor(tier4_planning_rviz_plugin): create abstract class for footprint (`#2870 `_) +* refactor(tier4_planning_rviz_plugin): create abstract class for footprint (`#2870 `_) * refactor(tier4_planning_rviz_plugin): create abstract class for footprint * fix * fix * fix * fix --------- -* feat(tier4_planning_rviz_plugin): visualize pose_with_uuid_stamped (`#2662 `_) +* feat(tier4_planning_rviz_plugin): visualize pose_with_uuid_stamped (`#2662 `_) * feat(tier4_planning_rviz_plugin): visualize pose_stamped_with_uuid * Update common/tier4_planning_rviz_plugin/include/pose_stamped_with_uuid/display.hpp Co-authored-by: Yukihiro Saito @@ -195,7 +202,7 @@ Changelog for package tier4_planning_rviz_plugin * add icon * change default size Co-authored-by: Yukihiro Saito -* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) +* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -216,68 +223,68 @@ Changelog for package tier4_planning_rviz_plugin * fix some codes * change to makerker array * change avoidance utils -* feat(tier4_planning_rviz_plugin): add offset from baselink param (`#2384 `_) -* fix(tier4_planning_rviz_plugin): correct velocity text (`#2179 `_) -* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) +* feat(tier4_planning_rviz_plugin): add offset from baselink param (`#2384 `_) +* fix(tier4_planning_rviz_plugin): correct velocity text (`#2179 `_) +* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) * fix(tier4_planning/vehicle_rviz_plugin): fixed license * fix build error -* feat(tier4_planning_rviz_plugin): add owner (`#1953 `_) -* refactor(tier4_planning_rviz_plugin): apply clang-tidy for path (`#1637 `_) -* feat(tier4_planning_rviz_plugin): add velocity_text to path_with_lane_id (`#1735 `_) +* feat(tier4_planning_rviz_plugin): add owner (`#1953 `_) +* refactor(tier4_planning_rviz_plugin): apply clang-tidy for path (`#1637 `_) +* feat(tier4_planning_rviz_plugin): add velocity_text to path_with_lane_id (`#1735 `_) * feat(tier4_planning_rviz_plugin): add velocity_text to path_with_lane_id * fix pre-commit -* refactor(tier4_planning_rviz_plugin): apply clang-tidy for mission_checkpoint (`#1634 `_) +* refactor(tier4_planning_rviz_plugin): apply clang-tidy for mission_checkpoint (`#1634 `_) refactor(tier4_planning_rviz_plugin): apply clang-tidy for mission_checkpoint -* refactor(tier4_planning_rviz_plugin): apply clang-tidy for drivable_area (`#1625 `_) -* fix: remove unused check of rviz plugin version (`#1474 `_) -* fix(tier4_planning_rviz_plugin): fix initialize planning_rviz_plugin (`#1387 `_) +* refactor(tier4_planning_rviz_plugin): apply clang-tidy for drivable_area (`#1625 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* fix(tier4_planning_rviz_plugin): fix initialize planning_rviz_plugin (`#1387 `_) * fix(tier4_planning_rviz_plugin): fix initialize planning_rviz_plugin * ci(pre-commit): autofix * remove comment out Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning_rviz_plugin): support backward driving in path/traj plugin (`#1335 `_) +* fix(tier4_planning_rviz_plugin): support backward driving in path/traj plugin (`#1335 `_) * fix(tier4_planning_rviz_plugin): support backward driving in path_with_lane_id/path/trajectory plugin * add utils.hpp -* feat: view LaneId on PathWithLaneIdFootprint plugin (`#984 `_) +* feat: view LaneId on PathWithLaneIdFootprint plugin (`#984 `_) * feat: view LaneId on PathWithLaneIdFootprint plugin * ci(pre-commit): autofix * fix: add utility * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: set Eigen include directory as SYSTEM for Humble arm64 (`#978 `_) -* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) +* fix: set Eigen include directory as SYSTEM for Humble arm64 (`#978 `_) +* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) * feat(tier4_planning/vehicle_plugin): make plugins size scalable * remove space * scaling -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* 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: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(tier4_planning_rviz_plugins): modify build error in rolling (`#808 `_) -* feat(tier4_planning_rviz_plugins): add vehicle_info to *FootprintDisplay (`#712 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(tier4_planning_rviz_plugins): modify build error in rolling (`#808 `_) +* feat(tier4_planning_rviz_plugins): add vehicle_info to *FootprintDisplay (`#712 `_) * feat(tier4_planning_rviz_plugins): add vehicle_info to PathFootprintDisplay * add vehicle_info to other footprint displays * fix the scope of local variables Co-authored-by: Takayuki Murooka -* chore: sync files (`#629 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_planning_rviz_plugin): add PathWithLaneIdFootprint rviz plugin (`#594 `_) +* feat(tier4_planning_rviz_plugin): add PathWithLaneIdFootprint rviz plugin (`#594 `_) * feat(tier4_planning_rviz_plugin): add PathWithLaneIdFootprint rviz plugin * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_planning_rviz_plugin): add PathWithLaneId icon (`#593 `_) -* feat(tier4_planning_rviz_plugin): add PathWithLaneId rviz plugin (`#591 `_) - * sync rc rc/v1.7.1 (`#2345 `_) - * add behavior_path_rviz_plugin (`#2343 `_) +* chore(tier4_planning_rviz_plugin): add PathWithLaneId icon (`#593 `_) +* feat(tier4_planning_rviz_plugin): add PathWithLaneId rviz plugin (`#591 `_) + * sync rc rc/v1.7.1 (`#2345 `_) + * add behavior_path_rviz_plugin (`#2343 `_) * add behavior_path_rviz_plugin * edit README * fix for uncrustify @@ -296,14 +303,14 @@ Changelog for package tier4_planning_rviz_plugin Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: Hiroki OTA Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add drivable area visualizer (`#779 `_) (`#193 `_) +* feat: add drivable area visualizer (`#779 `_) (`#193 `_) * add drivable area visualizer * add license * modify pointed out in pre-commit * modify pointed out in pre-commit Co-authored-by: Yukihiro Saito -* fix: fix typo plannnig -> planning (`#195 `_) -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* fix: fix typo plannnig -> planning (`#195 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/visualization/tier4_planning_rviz_plugin/README.md b/visualization/tier4_planning_rviz_plugin/README.md index 5b6286139af0d..11aba35f1f4fd 100644 --- a/visualization/tier4_planning_rviz_plugin/README.md +++ b/visualization/tier4_planning_rviz_plugin/README.md @@ -11,11 +11,11 @@ This plugin displays the path, trajectory, and maximum speed. ### Input -| Name | Type | Description | -| -------------------------------------------------- | ----------------------------------------- | ------------------------------------------ | -| `/input/path` | `autoware_planning_msgs::msg::Path` | The topic on which to subscribe path | -| `/input/trajectory` | `autoware_planning_msgs::msg::Trajectory` | The topic on which to subscribe trajectory | -| `/planning/scenario_planning/current_max_velocity` | `tier4_planning_msgs/msg/VelocityLimit` | The topic on which to publish max velocity | +| Name | Type | Description | +| -------------------------------------------------- | --------------------------------------------------- | ------------------------------------------ | +| `/input/path` | `autoware_planning_msgs::msg::Path` | The topic on which to subscribe path | +| `/input/trajectory` | `autoware_planning_msgs::msg::Trajectory` | The topic on which to subscribe trajectory | +| `/planning/scenario_planning/current_max_velocity` | `autoware_internal_planning_msgs/msg/VelocityLimit` | The topic on which to publish max velocity | ### Output diff --git a/visualization/tier4_planning_rviz_plugin/package.xml b/visualization/tier4_planning_rviz_plugin/package.xml index 1c6560ffcce1e..17fc761977ae8 100644 --- a/visualization/tier4_planning_rviz_plugin/package.xml +++ b/visualization/tier4_planning_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_planning_rviz_plugin - 0.42.0 + 0.43.0 The tier4_planning_rviz_plugin package Yukihiro Saito Takayuki Murooka @@ -11,6 +11,7 @@ ament_cmake autoware_cmake + autoware_internal_planning_msgs autoware_motion_utils autoware_planning_msgs autoware_utils @@ -25,7 +26,6 @@ rviz_rendering tf2_geometry_msgs tf2_ros - tier4_planning_msgs ament_lint_auto autoware_lint_common diff --git a/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp b/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp index 098be3a93ddd0..c72bad4d22cf6 100644 --- a/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp +++ b/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp @@ -116,9 +116,10 @@ void MaxVelocityDisplay::subscribe() std::string topic_name = property_topic_name_->getStdString(); if (topic_name.length() > 0 && topic_name != "/") { rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node(); - max_vel_sub_ = raw_node->create_subscription( - topic_name, rclcpp::QoS{1}.transient_local(), - std::bind(&MaxVelocityDisplay::processMessage, this, std::placeholders::_1)); + max_vel_sub_ = + raw_node->create_subscription( + topic_name, rclcpp::QoS{1}.transient_local(), + std::bind(&MaxVelocityDisplay::processMessage, this, std::placeholders::_1)); } } @@ -128,7 +129,7 @@ void MaxVelocityDisplay::unsubscribe() } void MaxVelocityDisplay::processMessage( - const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg_ptr) + const autoware_internal_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg_ptr) { if (!overlay_->isVisible()) { return; diff --git a/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp b/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp index 9098d37e4f7a0..d621cbea40876 100644 --- a/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp +++ b/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp @@ -34,7 +34,7 @@ #include #include -#include +#include #include #include @@ -63,7 +63,8 @@ private Q_SLOTS: void updateVisualization(); protected: - void processMessage(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg_ptr); + void processMessage( + const autoware_internal_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg_ptr); jsk_rviz_plugins::OverlayObject::Ptr overlay_; rviz_common::properties::ColorProperty * property_text_color_; rviz_common::properties::IntProperty * property_left_; @@ -73,8 +74,8 @@ private Q_SLOTS: rviz_common::properties::FloatProperty * property_value_scale_; private: - rclcpp::Subscription::SharedPtr max_vel_sub_; - tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr last_msg_ptr_; + rclcpp::Subscription::SharedPtr max_vel_sub_; + autoware_internal_planning_msgs::msg::VelocityLimit::ConstSharedPtr last_msg_ptr_; }; } // namespace rviz_plugins diff --git a/visualization/tier4_state_rviz_plugin/CHANGELOG.rst b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst index 444fdb698e342..2dc54e451d390 100644 --- a/visualization/tier4_state_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst @@ -2,12 +2,19 @@ Changelog for package tier4_state_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (`#10273 `_) +* Contributors: Hayato Mizushima, Ryohsuke Mitsudome, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -16,55 +23,55 @@ Changelog for package tier4_state_rviz_plugin 0.41.0 (2025-01-29) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* fix(tier4_state_rviz_plugin): fix bugprone-integer-division (`#9628 `_) +* fix(tier4_state_rviz_plugin): fix bugprone-integer-division (`#9628 `_) fix: bugprone-integer-division * Contributors: Fumiya Watanabe, kobayu858 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix: missing dependency in common components (`#9072 `_) +* fix: missing dependency in common components (`#9072 `_) * Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8921 `_) +* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8921 `_) fix:unmatchedSuppression -* style: update state panel plugin (`#8846 `_) -* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8841 `_) +* style: update state panel plugin (`#8846 `_) +* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8841 `_) fix:unusedFunction -* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8845 `_) +* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8845 `_) * fix:unusedFunction * fix:unusedFunction * fix:revert --------- -* fix(tier4_state_rviz_plugin): fix constVariablePointer (`#8832 `_) +* fix(tier4_state_rviz_plugin): fix constVariablePointer (`#8832 `_) fix:constVariablePointer -* fix(tier4_state_rviz_plugin): fix shadowVariable (`#8831 `_) +* fix(tier4_state_rviz_plugin): fix shadowVariable (`#8831 `_) * fix:shadowVariable * fix:clang-format --------- -* refactor(custom_button): improve drop shadow effect (`#8781 `_) -* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8658 `_) +* refactor(custom_button): improve drop shadow effect (`#8781 `_) +* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8658 `_) fix:unmatchedSuppression -* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8608 `_) +* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8608 `_) * fix:unusedFunction * fix:clang format * fix:revert custom button @@ -79,35 +86,35 @@ Changelog for package tier4_state_rviz_plugin * fix:revert custom botton item * fix:remove declaration --------- -* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) +* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) set timestamp to velocity_limit msg -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* 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: update autoware state panel (`#7036 `_) +* feat: update autoware state panel (`#7036 `_) * Contributors: Autumn60, Khalil Selyan, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* feat: add pull over to autoware_state_panel of rviz (`#6540 `_) -* chore: set log level of debug printing in rviz plugin to DEBUG (`#5996 `_) -* feat!: remove planning factor type (`#5793 `_) +* feat: add pull over to autoware_state_panel of rviz (`#6540 `_) +* chore: set log level of debug printing in rviz plugin to DEBUG (`#5996 `_) +* feat!: remove planning factor type (`#5793 `_) remove planning factor type Co-authored-by: Hiroki OTA -* feat: change planning factor behavior constants (`#5590 `_) +* feat: change planning factor behavior constants (`#5590 `_) * replace module type * support compatibility --------- Co-authored-by: Hiroki OTA -* feat(tier4_state_rviz_plugin): add init by gnss button (`#4392 `_) -* fix(tier4_state_rviz_plugin): add NEUTRAL on GEAR (`#3132 `_) - fix(tier4_state_rviz_plugin): fix bug https://github.com/autowarefoundation/autoware.universe/issues/3121 -* refactor(start_planner): rename pull out to start planner (`#3908 `_) -* build(iron): remove rmw_qos_profile_t (`#3809 `_) -* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) +* feat(tier4_state_rviz_plugin): add init by gnss button (`#4392 `_) +* fix(tier4_state_rviz_plugin): add NEUTRAL on GEAR (`#3132 `_) + fix(tier4_state_rviz_plugin): fix bug https://github.com/autowarefoundation/autoware_universe/issues/3121 +* refactor(start_planner): rename pull out to start planner (`#3908 `_) +* build(iron): remove rmw_qos_profile_t (`#3809 `_) +* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) fix(rviz_plugin); fx traffic light and velocity factor rviz plugin -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -115,17 +122,17 @@ Changelog for package tier4_state_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) -* chore: sync files (`#3227 `_) +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_state_panel): change variable for fail safe behavior (`#2952 `_) +* fix(autoware_state_panel): change variable for fail safe behavior (`#2952 `_) fix fail safe behavior value -* fix(tier4_state_rviz_plugin): fix typo (`#2988 `_) -* fix(tier4_state_rviz_plugin): split into two panels (`#2914 `_) +* fix(tier4_state_rviz_plugin): fix typo (`#2988 `_) +* fix(tier4_state_rviz_plugin): split into two panels (`#2914 `_) * fix(tier4_state_rviz_plugin): split into two panels * feat: add image * style(pre-commit): autofix @@ -140,16 +147,16 @@ Changelog for package tier4_state_rviz_plugin --------- 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(tier4_state_rviz_plugin): add planning API visualization (`#2632 `_) +* feat(tier4_state_rviz_plugin): add planning API visualization (`#2632 `_) feat(tier4_state_rviz_plugin): add Planning Visualization Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_state_rviz_plugin): add Fail Safe Visualization (`#2626 `_) +* feat(tier4_state_rviz_plugin): add Fail Safe Visualization (`#2626 `_) * feat(tier4_state_rviz_plugin): add information for Fail Safe * fix color * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs(tier4_state_rviz_plugin): update readme (`#2475 `_) -* feat(tier4_state_rviz_plugin): add API monitoring for Routing, Localization and Motion (`#2436 `_) +* docs(tier4_state_rviz_plugin): update readme (`#2475 `_) +* feat(tier4_state_rviz_plugin): add API monitoring for Routing, Localization and Motion (`#2436 `_) * feat: add viz for routing API * feat: add motion and localiation * some refactoring @@ -162,7 +169,7 @@ Changelog for package tier4_state_rviz_plugin * ci(pre-commit): autofix Co-authored-by: Takagi, Isamu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_state_rviz_plugin): use ADAPI v1 instead of old API (`#2433 `_) +* feat(tier4_state_rviz_plugin): use ADAPI v1 instead of old API (`#2433 `_) * fix: delete path change approval * make operation and control mode layout * add nullptr @@ -172,15 +179,15 @@ Changelog for package tier4_state_rviz_plugin * feat: add TRANSITION * fix comment * delete unused -* chore(tier4_state_rviz_plugin): add maintainer (`#2435 `_) -* revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_) (`#1617 `_) - revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_)" +* chore(tier4_state_rviz_plugin): add maintainer (`#2435 `_) +* revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_) (`#1617 `_) + revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_)" This reverts commit 57720204fd401a59b5dffd12d5b8958e5ae2a5af. -* refactor(tier4_state_rviz_plugin): apply clang-tidy for readability-identifier-naming (`#1595 `_) +* refactor(tier4_state_rviz_plugin): apply clang-tidy for readability-identifier-naming (`#1595 `_) * refactor(tier4_state_rviz_plugin): apply clang-tidy for readability-identifier-naming * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_state_rviz_plugin): apply clang-tidy (`#1589 `_) +* refactor(tier4_state_rviz_plugin): apply clang-tidy (`#1589 `_) * fix: clang-tidy for tier4_state_rviz_plugin * ci(pre-commit): autofix * Update common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -194,47 +201,47 @@ Changelog for package tier4_state_rviz_plugin * ci(pre-commit): autofix 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> -* fix: remove unused check of rviz plugin version (`#1474 `_) -* fix(tier4_state_rviz_plugin): qos (`#1085 `_) -* feat(tier4_state_rviz_plugin): add emergency button (`#1048 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* fix(tier4_state_rviz_plugin): qos (`#1085 `_) +* feat(tier4_state_rviz_plugin): add emergency button (`#1048 `_) * feat(tier4_state_rviz_plugin):add emergency button * ci(pre-commit): autofix * chore: add default button name Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* revert: engage button action in autoware_state_panel (`#1079 `_) - * Revert "fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_)" +* revert: engage button action in autoware_state_panel (`#1079 `_) + * Revert "fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_)" This reverts commit 49cc906418b15994b7facb881f3c133a9d8eb3a1. - * Revert "fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_)" + * Revert "fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_)" This reverts commit 15f43bc7063809d38c369e405a82d9666826c052. -* feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* 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> -* feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) +* feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) +* style: fix format of package.xml (`#844 `_) +* fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: sync files (`#629 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_) -* feat: add selector mode and disengage function (`#781 `_) (`#194 `_) +* fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_) +* feat: add selector mode and disengage function (`#781 `_) (`#194 `_) Co-authored-by: Hiroki OTA Co-authored-by: Tomoya Kimura -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/visualization/tier4_state_rviz_plugin/README.md b/visualization/tier4_state_rviz_plugin/README.md index e45be3bea13dc..0284a000b92f5 100644 --- a/visualization/tier4_state_rviz_plugin/README.md +++ b/visualization/tier4_state_rviz_plugin/README.md @@ -20,18 +20,18 @@ This plugin also can engage from the panel. ### Output -| Name | Type | Description | -| -------------------------------------------------- | -------------------------------------------------- | -------------------------------------------------- | -| `/api/operation_mode/change_to_autonomous` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to autonomous | -| `/api/operation_mode/change_to_stop` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to stop | -| `/api/operation_mode/change_to_local` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to local | -| `/api/operation_mode/change_to_remote` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to remote | -| `/api/operation_mode/enable_autoware_control` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to enable vehicle control by Autoware | -| `/api/operation_mode/disable_autoware_control` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to disable vehicle control by Autoware | -| `/api/routing/clear_route` | `autoware_adapi_v1_msgs::srv::ClearRoute` | The service to clear route state | -| `/api/motion/accept_start` | `autoware_adapi_v1_msgs::srv::AcceptStart` | The service to accept the vehicle to start | -| `/api/autoware/set/emergency` | `tier4_external_api_msgs::srv::SetEmergency` | The service to set external emergency | -| `/planning/scenario_planning/max_velocity_default` | `tier4_planning_msgs::msg::VelocityLimit` | The topic to set maximum speed of the vehicle | +| Name | Type | Description | +| -------------------------------------------------- | ----------------------------------------------------- | -------------------------------------------------- | +| `/api/operation_mode/change_to_autonomous` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to autonomous | +| `/api/operation_mode/change_to_stop` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to stop | +| `/api/operation_mode/change_to_local` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to local | +| `/api/operation_mode/change_to_remote` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to remote | +| `/api/operation_mode/enable_autoware_control` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to enable vehicle control by Autoware | +| `/api/operation_mode/disable_autoware_control` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to disable vehicle control by Autoware | +| `/api/routing/clear_route` | `autoware_adapi_v1_msgs::srv::ClearRoute` | The service to clear route state | +| `/api/motion/accept_start` | `autoware_adapi_v1_msgs::srv::AcceptStart` | The service to accept the vehicle to start | +| `/api/autoware/set/emergency` | `tier4_external_api_msgs::srv::SetEmergency` | The service to set external emergency | +| `/planning/scenario_planning/max_velocity_default` | `autoware_internal_planning_msgs::msg::VelocityLimit` | The topic to set maximum speed of the vehicle | ## HowToUse diff --git a/visualization/tier4_state_rviz_plugin/package.xml b/visualization/tier4_state_rviz_plugin/package.xml index 2834bd34fbde3..242b705c82592 100644 --- a/visualization/tier4_state_rviz_plugin/package.xml +++ b/visualization/tier4_state_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_state_rviz_plugin - 0.42.0 + 0.43.0 The autoware state rviz plugin package Hiroki OTA Takagi, Isamu @@ -14,6 +14,7 @@ ament_index_cpp autoware_adapi_v1_msgs + autoware_internal_planning_msgs autoware_motion_utils autoware_vehicle_msgs libqt5-core @@ -24,7 +25,6 @@ rviz_common tier4_control_msgs tier4_external_api_msgs - tier4_planning_msgs ament_lint_auto autoware_lint_common diff --git a/visualization/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/visualization/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index ffcf801e758e0..b2d8bd351b962 100644 --- a/visualization/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/visualization/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -149,8 +149,9 @@ void AutowareStatePanel::onInitialize() client_emergency_stop_ = raw_node_->create_client( "/api/autoware/set/emergency"); - pub_velocity_limit_ = raw_node_->create_publisher( - "/planning/scenario_planning/max_velocity_default", rclcpp::QoS{1}.transient_local()); + pub_velocity_limit_ = + raw_node_->create_publisher( + "/planning/scenario_planning/max_velocity_default", rclcpp::QoS{1}.transient_local()); QObject::connect(segmented_button, &CustomSegmentedButton::buttonClicked, this, [this](int id) { const QList buttons = segmented_button->getButtonGroup()->buttons(); @@ -804,7 +805,7 @@ void AutowareStatePanel::onSwitchStateChanged(int state) void AutowareStatePanel::onClickVelocityLimit() { - auto velocity_limit = std::make_shared(); + auto velocity_limit = std::make_shared(); velocity_limit->stamp = raw_node_->now(); velocity_limit->max_velocity = velocity_limit_value_label_->text().toDouble() / 3.6; pub_velocity_limit_->publish(*velocity_limit); diff --git a/visualization/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp b/visualization/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp index 3c106467b9beb..143c3a92704bc 100644 --- a/visualization/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp +++ b/visualization/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp @@ -49,12 +49,12 @@ #include #include #include +#include #include #include #include #include #include -#include #include @@ -119,7 +119,8 @@ public Q_SLOTS: // NOLINT for Qt rclcpp::Client::SharedPtr client_emergency_stop_; rclcpp::Subscription::SharedPtr sub_emergency_; - rclcpp::Publisher::SharedPtr pub_velocity_limit_; + rclcpp::Publisher::SharedPtr + pub_velocity_limit_; QLabel * velocity_limit_value_label_{nullptr}; bool sliderIsDragging = false; diff --git a/visualization/tier4_system_rviz_plugin/CHANGELOG.rst b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst index 0e6861c74caa1..b530cdc5c541a 100644 --- a/visualization/tier4_system_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package tier4_system_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,16 +28,16 @@ Changelog for package tier4_system_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -42,16 +48,16 @@ Changelog for package tier4_system_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(system_error_monitor): remove system error monitor (`#8929 `_) +* feat(system_error_monitor): remove system error monitor (`#8929 `_) * feat: delete-system-error-monitor-from-autoware * feat: remove unnecessary params --------- -* fix(tier4_system_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8378 `_) +* fix(tier4_system_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8378 `_) fix: deal with virtualCallInConstructor warning Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* 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 @@ -59,7 +65,7 @@ Changelog for package tier4_system_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* feat(tier4_system_rviz_plugin): improve visualization results and logics (`#5222 `_) +* feat(tier4_system_rviz_plugin): improve visualization results and logics (`#5222 `_) * Add Init Localization and Init Planning Check; Add error list check * style(pre-commit): autofix * int casting problem updated @@ -76,8 +82,8 @@ Changelog for package tier4_system_rviz_plugin --------- Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) -* feat(tier4_system_rviz_plugin): add package (`#4945 `_) +* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) +* feat(tier4_system_rviz_plugin): add package (`#4945 `_) * feat(tier4_system_rviz_plugin): add package * update maintainer * style(pre-commit): autofix diff --git a/visualization/tier4_system_rviz_plugin/package.xml b/visualization/tier4_system_rviz_plugin/package.xml index 10476aaa874cd..d23daa5bb6b81 100644 --- a/visualization/tier4_system_rviz_plugin/package.xml +++ b/visualization/tier4_system_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_system_rviz_plugin - 0.42.0 + 0.43.0 The tier4_vehicle_rviz_plugin package Koji Minoda Apache License 2.0 diff --git a/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst index 0fd9068ec8de9..01764caa67242 100644 --- a/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst @@ -2,12 +2,18 @@ Changelog for package tier4_traffic_light_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -19,16 +25,16 @@ Changelog for package tier4_traffic_light_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog @@ -39,8 +45,8 @@ Changelog for package tier4_traffic_light_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* 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 @@ -48,7 +54,7 @@ Changelog for package tier4_traffic_light_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) +* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) * feat(behavior_velocity): support new traffic signal interface * style(pre-commit): autofix * add missing dependency @@ -65,9 +71,9 @@ Changelog for package tier4_traffic_light_rviz_plugin * add debug log when the signal data is outdated --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) +* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) fix(rviz_plugin); fx traffic light and velocity factor rviz plugin -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -75,21 +81,21 @@ Changelog for package tier4_traffic_light_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* refactor(tier4_traffic_light_rviz_plugin): apply clang-tidy (`#1650 `_) -* fix: remove unused check of rviz plugin version (`#1474 `_) -* feat(traffic-light-rviz-panel): select traffic light ID from Combobox (`#1010 `_) +* refactor(tier4_traffic_light_rviz_plugin): apply clang-tidy (`#1650 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* feat(traffic-light-rviz-panel): select traffic light ID from Combobox (`#1010 `_) * feat(traffic-light-rviz-panel): (1) select traffic light ID instead of inputting its value (2) added a workaround for tinyxml2::tinyxml2 for humble build (3) updated README and fixed mkdocs.yaml to upload .gif file to unvierse documentation (4)sort traffic light IDs, use scrollable box -* docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) +* 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 -* style: fix format of package.xml (`#844 `_) -* feat(tier4_traffic_light_rviz_plugin): selectable light shape, status and confidence (`#663 `_) -* feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel (`#640 `_) +* style: fix format of package.xml (`#844 `_) +* feat(tier4_traffic_light_rviz_plugin): selectable light shape, status and confidence (`#663 `_) +* feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel (`#640 `_) * feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel * fix(tier4_traffic_light_rviz_plugin): fix behavior * fix: lisense description diff --git a/visualization/tier4_traffic_light_rviz_plugin/package.xml b/visualization/tier4_traffic_light_rviz_plugin/package.xml index c4975c29a7bf3..0a39d72542a53 100644 --- a/visualization/tier4_traffic_light_rviz_plugin/package.xml +++ b/visualization/tier4_traffic_light_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_traffic_light_rviz_plugin - 0.42.0 + 0.43.0 The autoware state rviz plugin package Satoshi OTA Apache License 2.0 diff --git a/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst index 84541cd3cfa46..6aebe1c474ed6 100644 --- a/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst @@ -2,15 +2,21 @@ Changelog for package tier4_vehicle_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.43.0 (2025-03-21) +------------------- +* Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43 +* chore: rename from `autoware.universe` to `autoware_universe` (`#10306 `_) +* Contributors: Hayato Mizushima, Yutaka Kondo + 0.42.0 (2025-03-03) ------------------- * Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base -* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) +* feat(autoware_utils): replace autoware_universe_utils with autoware_utils (`#10191 `_) * Contributors: Fumiya Watanabe, 心刚 0.41.2 (2025-02-19) ------------------- -* chore: bump version to 0.41.1 (`#10088 `_) +* chore: bump version to 0.41.1 (`#10088 `_) * Contributors: Ryohsuke Mitsudome 0.41.1 (2025-02-10) @@ -22,38 +28,38 @@ Changelog for package tier4_vehicle_rviz_plugin 0.40.0 (2024-12-12) ------------------- * Merge branch 'main' into release-0.40.0 -* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. -* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) -* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- -* fix: missing dependency in common components (`#9072 `_) +* fix: missing dependency in common components (`#9072 `_) * Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_vehicle_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8379 `_) +* fix(tier4_vehicle_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8379 `_) fix: deal with virtualCallInConstructor warning Co-authored-by: Ryuta Kambe -* fix: replace Ogre deprecated header (`#7606 `_) +* fix: replace Ogre deprecated header (`#7606 `_) Fix Ogre deprecated header Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* 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 @@ -61,14 +67,14 @@ Changelog for package tier4_vehicle_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) -* chore(build): remove tier4_autoware_utils.hpp in common/ (`#4828 `_) +* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) +* chore(build): remove tier4_autoware_utils.hpp in common/ (`#4828 `_) removed tier4_autoware_utils.hpp in common/ -* chore: do not display steer and velocity value when message is not subscribed yet (`#4739 `_) +* chore: do not display steer and velocity value when message is not subscribed yet (`#4739 `_) * chore: do not display steer and velocity value when message is not subscribed yet * chore: change msgs --------- -* feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz (`#4506 `_) +* feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz (`#4506 `_) * feat: add acceleration visualization plugin to RVIZ * feat: add RVIZ plugin for acceleration; remove limit text; debugging: property_label_scale\_ not responding * style(pre-commit): autofix @@ -79,7 +85,7 @@ Changelog for package tier4_vehicle_rviz_plugin --------- Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* 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 @@ -87,34 +93,34 @@ Changelog for package tier4_vehicle_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) +* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) * fix(tier4_planning/vehicle_rviz_plugin): fixed license * fix build error -* fix: remove unused check of rviz plugin version (`#1474 `_) -* fix(tier4_vehicle_rviz_plugin): initialization vehicle rivz plugin (`#1379 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* fix(tier4_vehicle_rviz_plugin): initialization vehicle rivz plugin (`#1379 `_) * fix(tier4_vehicle_rviz_plugin): initialization vehicle rviz plugin * initialize signal_type -* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) +* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) * feat(tier4_planning/vehicle_plugin): make plugins size scalable * remove space * scaling -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* 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: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) * fix(tier4_autoware_utils): modify build error in rolling * fix(lanelet2_extension): add target compile definition for geometry2 * fix(ekf_localizer): add target compile definition for geometry2 @@ -152,7 +158,7 @@ Changelog for package tier4_vehicle_rviz_plugin * fix(planning_error_monitor): add target compile definition for geometry2 * fix(planning_evaluator): add target compile definition for geometry2 * fix(lidar_centerpoint): add target compile definition for geometry2 -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/visualization/tier4_vehicle_rviz_plugin/package.xml b/visualization/tier4_vehicle_rviz_plugin/package.xml index 7ffb4b0920d43..54a5c82348224 100644 --- a/visualization/tier4_vehicle_rviz_plugin/package.xml +++ b/visualization/tier4_vehicle_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_rviz_plugin - 0.42.0 + 0.43.0 The tier4_vehicle_rviz_plugin package Yukihiro Saito Apache License 2.0