From c23236c46f838dc95e7c971235014d27e57c43c6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 10:11:58 +0900 Subject: [PATCH 01/77] feat: implement ScopedElapsedTimeRecorder class --- .../utility/scoped_elapsed_time_recorder.hpp | 42 +++++++++++++++++++ 1 file changed, 42 insertions(+) create mode 100644 openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp new file mode 100644 index 00000000000..f012571103e --- /dev/null +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp @@ -0,0 +1,42 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// 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 OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ +#define OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ + +#include +#include + +template +class ScopedElapsedTimeRecorder +{ +public: + explicit ScopedElapsedTimeRecorder(double & output_seconds) : output_seconds(output_seconds) {} + + ~ScopedElapsedTimeRecorder() { output_seconds = getElapsedSeconds(start); } + + double elapsedSeconds() const { return getElapsedSec(start); } + +private: + std::chrono::time_point start = TClock::now(); + + double getElapsedSeconds(std::chrono::time_point start) const + { + return std::abs(std::chrono::duration(TClock::now() - start).count()); + } + + double & output_seconds; +}; + +#endif // OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ From b84bae245f5e9c99e1e277255af5209e848c1711 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 10:13:55 +0900 Subject: [PATCH 02/77] feat: record execution time with ScopedElapsedTimeRecorder class --- .../src/openscenario_interpreter.cpp | 39 ++++++++++++------- 1 file changed, 24 insertions(+), 15 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 74fdf7ca028..672a62c168b 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -24,6 +24,7 @@ #include #include #include +#include #include #include @@ -186,23 +187,31 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result }, [this]() { withTimeoutHandler(defaultTimeoutHandler(), [this]() { - if (std::isnan(evaluateSimulationTime())) { - if (not waiting_for_engagement_to_be_completed and engageable()) { - engage(); - waiting_for_engagement_to_be_completed = true; // NOTE: DIRTY HACK!!! - } else if (engaged()) { - activateNonUserDefinedControllers(); - waiting_for_engagement_to_be_completed = false; // NOTE: DIRTY HACK!!! + double evaluate_time, update_time, context_time; + { + ScopedElapsedTimeRecorder evaluate_time_recorder(evaluate_time); + if (std::isnan(evaluateSimulationTime())) { + if (not waiting_for_engagement_to_be_completed and engageable()) { + engage(); + waiting_for_engagement_to_be_completed = true; // NOTE: DIRTY HACK!!! + } else if (engaged()) { + activateNonUserDefinedControllers(); + waiting_for_engagement_to_be_completed = false; // NOTE: DIRTY HACK!!! + } + } else if (currentScenarioDefinition()) { + currentScenarioDefinition()->evaluate(); + } else { + throw Error("No script evaluable."); } - } else if (currentScenarioDefinition()) { - currentScenarioDefinition()->evaluate(); - } else { - throw Error("No script evaluable."); } - - SimulatorCore::update(); - - publishCurrentContext(); + { + ScopedElapsedTimeRecorder update_time_recorder(update_time); + SimulatorCore::update(); + } + { + ScopedElapsedTimeRecorder context_time_recorder(context_time); + publishCurrentContext(); + } }); }); }; From 542917890c1329c8c485c2cce92e88b0b89a2432 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 10:16:40 +0900 Subject: [PATCH 03/77] feat: publish execution time from interpreter --- .../openscenario_interpreter.hpp | 10 ++++++++++ .../src/openscenario_interpreter.cpp | 17 ++++++++++++++++- 2 files changed, 26 insertions(+), 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp index a1fd41e2f4e..9d7eb82322f 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp @@ -32,6 +32,7 @@ #include #include #include +#include #include #define INTERPRETER_INFO_STREAM(...) \ @@ -52,6 +53,15 @@ class Interpreter : public rclcpp_lifecycle::LifecycleNode, const rclcpp_lifecycle::LifecyclePublisher::SharedPtr publisher_of_context; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + evaluate_time_publisher; + + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + update_time_publisher; + + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + output_time_publisher; + double local_frame_rate; double local_real_time_factor; diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 672a62c168b..b669df92682 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -43,7 +43,13 @@ Interpreter::Interpreter(const rclcpp::NodeOptions & options) osc_path(""), output_directory("/tmp"), publish_empty_context(false), - record(false) + record(false), + evaluate_time_publisher(create_publisher( + "/simulation/interpreter/execution_time_ms/evaluate", rclcpp::QoS(1).transient_local())), + update_time_publisher(create_publisher( + "/simulation/interpreter/execution_time_ms/update", rclcpp::QoS(1).transient_local())), + output_time_publisher(create_publisher( + "/simulation/interpreter/execution_time_ms/output", rclcpp::QoS(1).transient_local())) { DECLARE_PARAMETER(local_frame_rate); DECLARE_PARAMETER(local_real_time_factor); @@ -212,6 +218,15 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result ScopedElapsedTimeRecorder context_time_recorder(context_time); publishCurrentContext(); } + + tier4_simulation_msgs::msg::UserDefinedValue msg; + msg.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; + msg.value = std::to_string(evaluate_time * 1e6); + evaluate_time_publisher->publish(msg); + msg.value = std::to_string(update_time * 1e6); + update_time_publisher->publish(msg); + msg.value = std::to_string(context_time * 1e6); + output_time_publisher->publish(msg); }); }); }; From 270dc1f983d356d8c31acafae4c92feac586cbb6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 18:02:36 +0900 Subject: [PATCH 04/77] fix: correct time unit conversion --- .../src/openscenario_interpreter.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index b669df92682..8fff1ed666b 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -221,11 +221,11 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result tier4_simulation_msgs::msg::UserDefinedValue msg; msg.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; - msg.value = std::to_string(evaluate_time * 1e6); + msg.value = std::to_string(evaluate_time * 1e3); evaluate_time_publisher->publish(msg); - msg.value = std::to_string(update_time * 1e6); + msg.value = std::to_string(update_time * 1e3); update_time_publisher->publish(msg); - msg.value = std::to_string(context_time * 1e6); + msg.value = std::to_string(context_time * 1e3); output_time_publisher->publish(msg); }); }); From a3c997c4c89f0ef3609b4b29ec476fb0dcf3d8e7 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 18:03:45 +0900 Subject: [PATCH 05/77] fix: add activate and deactivate process for time publisher in interpreter --- .../src/openscenario_interpreter.cpp | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 8fff1ed666b..56203374a2e 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -264,6 +264,9 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result execution_timer.clear(); publisher_of_context->on_activate(); + evaluate_time_publisher->on_activate(); + update_time_publisher->on_activate(); + output_time_publisher->on_activate(); assert(publisher_of_context->is_activated()); @@ -335,6 +338,15 @@ auto Interpreter::reset() -> void if (publisher_of_context->is_activated()) { publisher_of_context->on_deactivate(); } + if (evaluate_time_publisher->is_activated()) { + evaluate_time_publisher->on_deactivate(); + } + if (update_time_publisher->is_activated()) { + update_time_publisher->on_deactivate(); + } + if (output_time_publisher->is_activated()) { + output_time_publisher->on_deactivate(); + } if (not has_parameter("initialize_duration")) { declare_parameter("initialize_duration", 30); From a484865f271df75d09217dbc8364b6572b8a80b3 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 18:07:32 +0900 Subject: [PATCH 06/77] feat: add execution_time_test.yaml --- .../scenario/execution_time_test.yaml | 219 ++++++++++++++++++ 1 file changed, 219 insertions(+) create mode 100644 test_runner/scenario_test_runner/scenario/execution_time_test.yaml diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml new file mode 100644 index 00000000000..3d555c24e7a --- /dev/null +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -0,0 +1,219 @@ +OpenSCENARIO: + FileHeader: + author: 'Kotaro Yoshimoto' + date: '2025-01-28T18:06:53+09:00' + description: 'scenario for execution time test' + revMajor: 1 + revMinor: 3 + ParameterDeclarations: + ParameterDeclaration: [] + CatalogLocations: + VehicleCatalog: + Directory: + path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle + RoadNetwork: + LogicFile: + filepath: $(ros2 pkg prefix --share kashiwanoha_map)/map + Entities: + ScenarioObject: + - name: Car1 + CatalogReference: &SAMPLE_VEHICLE + catalogName: sample_vehicle + entryName: sample_vehicle + - name: Car2 + CatalogReference: *SAMPLE_VEHICLE + - name: Car3 + CatalogReference: *SAMPLE_VEHICLE + - name: Car4 + CatalogReference: *SAMPLE_VEHICLE + - name: Car5 + CatalogReference: *SAMPLE_VEHICLE + - name: Car6 + CatalogReference: *SAMPLE_VEHICLE + Storyboard: + Init: + Actions: + Private: + - entityRef: Car1 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 0 + offset: 0 + Orientation: &DEFAULT_ORIENTATION + type: relative + h: 0 + p: 0 + r: 0 + - entityRef: Car2 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 5 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + - entityRef: Car3 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 10 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + - entityRef: Car4 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 15 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + - entityRef: Car5 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 20 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + - entityRef: Car6 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 25 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + Story: + - name: '' + Act: + - name: _EndCondition + ManeuverGroup: + - maximumExecutionCount: 1 + name: '' + Actors: + selectTriggeringEntities: false + EntityRef: + - entityRef: Car1 + Maneuver: + - name: '' + Event: + - name: '' + priority: parallel + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: Car1 + EntityCondition: + ReachPositionCondition: + Position: + LanePosition: + roadId: '' + laneId: '34513' + s: 40 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + tolerance: 0.5 + Action: + - name: '' + UserDefinedAction: + CustomCommandAction: + type: exitSuccess + - name: '' + priority: parallel + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 60 + rule: greaterThan + - Condition: + - name: 'evaluate time checker' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: /simulation/interpreter/execution_time_ms/evaluate + rule: greaterThan + value: 1 + - name: 'avoid startup' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 1 + rule: greaterThan + - Condition: + - name: 'update time checker' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: /simulation/interpreter/execution_time_ms/update + rule: greaterThan + value: 1 + - name: 'avoid startup' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 1 + rule: greaterThan + - Condition: + - name: 'output time checker' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: /simulation/interpreter/execution_time_ms/output + rule: greaterThan + value: 1 + - name: 'avoid startup' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 1 + rule: greaterThan + Action: + - name: '' + UserDefinedAction: + CustomCommandAction: + type: exitFailure + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 0 + rule: greaterThan + StopTrigger: + ConditionGroup: [] From a42e4de08fe7b91a5811ce0e8a935c1202983498 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 19:16:51 +0900 Subject: [PATCH 07/77] refactor: use anchor and aliases in execution_time_test.yaml --- .../scenario/execution_time_test.yaml | 32 ++++--------------- 1 file changed, 7 insertions(+), 25 deletions(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 3d555c24e7a..281c6612d86 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -38,7 +38,7 @@ OpenSCENARIO: PrivateAction: - TeleportAction: Position: - LanePosition: + LanePosition: &DEFAULT_LANE_POSITION roadId: '' laneId: 34513 s: 0 @@ -53,51 +53,36 @@ OpenSCENARIO: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: 34513 + <<: *DEFAULT_LANE_POSITION s: 5 - offset: 0 - Orientation: *DEFAULT_ORIENTATION - entityRef: Car3 PrivateAction: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: 34513 + <<: *DEFAULT_LANE_POSITION s: 10 - offset: 0 - Orientation: *DEFAULT_ORIENTATION - entityRef: Car4 PrivateAction: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: 34513 + <<: *DEFAULT_LANE_POSITION s: 15 - offset: 0 - Orientation: *DEFAULT_ORIENTATION - entityRef: Car5 PrivateAction: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: 34513 + <<: *DEFAULT_LANE_POSITION s: 20 - offset: 0 - Orientation: *DEFAULT_ORIENTATION - entityRef: Car6 PrivateAction: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: 34513 + <<: *DEFAULT_LANE_POSITION s: 25 - offset: 0 - Orientation: *DEFAULT_ORIENTATION Story: - name: '' Act: @@ -129,11 +114,8 @@ OpenSCENARIO: ReachPositionCondition: Position: LanePosition: - roadId: '' - laneId: '34513' + <<: *DEFAULT_LANE_POSITION s: 40 - offset: 0 - Orientation: *DEFAULT_ORIENTATION tolerance: 0.5 Action: - name: '' From 017bad152df320452c9007ff004bcc2e5947b9b6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 19:19:01 +0900 Subject: [PATCH 08/77] chore: update threshold for update time in execution_time_test.yaml --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 281c6612d86..77784e9d500 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time_ms/update rule: greaterThan - value: 1 + value: 5 - name: 'avoid startup' delay: 0 conditionEdge: none From 5ef2afb1df48ef01a4955cdf4545c6997e4760f5 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 19:23:52 +0900 Subject: [PATCH 09/77] feat: add execution_time_test.yaml into test scenario line-up --- test_runner/scenario_test_runner/config/workflow.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/test_runner/scenario_test_runner/config/workflow.txt b/test_runner/scenario_test_runner/config/workflow.txt index b5ae1aef8e6..bab005da398 100644 --- a/test_runner/scenario_test_runner/config/workflow.txt +++ b/test_runner/scenario_test_runner/config/workflow.txt @@ -9,6 +9,7 @@ $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityConditio $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.RelativeSpeedCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.TimeToCollisionCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ControllerAction.AssignControllerAction.yaml +$(find-pkg-share scenario_test_runner)/scenario/execution_time_test.yaml $(find-pkg-share scenario_test_runner)/scenario/LateralAction.LaneChangeAction-RoadShoulder.yaml $(find-pkg-share scenario_test_runner)/scenario/LongitudinalAction.SpeedAction.yaml $(find-pkg-share scenario_test_runner)/scenario/Property.isBlind.yaml From fe036f8075723a555b94abb403777e4dff3115b8 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 19:28:42 +0900 Subject: [PATCH 10/77] fix: correct initialization order --- .../src/openscenario_interpreter.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 56203374a2e..1787efdba2e 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -38,18 +38,18 @@ namespace openscenario_interpreter Interpreter::Interpreter(const rclcpp::NodeOptions & options) : rclcpp_lifecycle::LifecycleNode("openscenario_interpreter", options), publisher_of_context(create_publisher("context", rclcpp::QoS(1).transient_local())), - local_frame_rate(30), - local_real_time_factor(1.0), - osc_path(""), - output_directory("/tmp"), - publish_empty_context(false), - record(false), evaluate_time_publisher(create_publisher( "/simulation/interpreter/execution_time_ms/evaluate", rclcpp::QoS(1).transient_local())), update_time_publisher(create_publisher( "/simulation/interpreter/execution_time_ms/update", rclcpp::QoS(1).transient_local())), output_time_publisher(create_publisher( - "/simulation/interpreter/execution_time_ms/output", rclcpp::QoS(1).transient_local())) + "/simulation/interpreter/execution_time_ms/output", rclcpp::QoS(1).transient_local())), + local_frame_rate(30), + local_real_time_factor(1.0), + osc_path(""), + output_directory("/tmp"), + publish_empty_context(false), + record(false) { DECLARE_PARAMETER(local_frame_rate); DECLARE_PARAMETER(local_real_time_factor); From 429ec955ca58ecc8f10b27bff691ef1ffcfcbdfe Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 28 Jan 2025 19:30:33 +0900 Subject: [PATCH 11/77] refactor: simplify ScopedElapsedTimeRecorder class --- .../utility/scoped_elapsed_time_recorder.hpp | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp index f012571103e..816d6dbe5fd 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp @@ -24,18 +24,14 @@ class ScopedElapsedTimeRecorder public: explicit ScopedElapsedTimeRecorder(double & output_seconds) : output_seconds(output_seconds) {} - ~ScopedElapsedTimeRecorder() { output_seconds = getElapsedSeconds(start); } - - double elapsedSeconds() const { return getElapsedSec(start); } + ~ScopedElapsedTimeRecorder() + { + output_seconds = std::abs(std::chrono::duration(TClock::now() - start).count()); + } private: std::chrono::time_point start = TClock::now(); - double getElapsedSeconds(std::chrono::time_point start) const - { - return std::abs(std::chrono::duration(TClock::now() - start).count()); - } - double & output_seconds; }; From 014bffc9def67193903fee9361546f665ba6e6c9 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 4 Feb 2025 17:09:42 +0900 Subject: [PATCH 12/77] refactor: rename TClock with Clock --- .../utility/scoped_elapsed_time_recorder.hpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp index 816d6dbe5fd..2ebf004b12d 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp @@ -18,7 +18,7 @@ #include #include -template +template class ScopedElapsedTimeRecorder { public: @@ -26,11 +26,11 @@ class ScopedElapsedTimeRecorder ~ScopedElapsedTimeRecorder() { - output_seconds = std::abs(std::chrono::duration(TClock::now() - start).count()); + output_seconds = std::abs(std::chrono::duration(Clock::now() - start).count()); } private: - std::chrono::time_point start = TClock::now(); + std::chrono::time_point start = Clock::now(); double & output_seconds; }; From 4d40bbfe45163ba118251d7908cedd10e69f2005 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 5 Feb 2025 17:23:37 +0900 Subject: [PATCH 13/77] refactor: use ExecutionTimer instead of ScopedElapsedTimeRecorder --- .../src/openscenario_interpreter.cpp | 79 +++++++++++-------- 1 file changed, 46 insertions(+), 33 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 1f346c39152..6f648e3916c 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -192,42 +192,55 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result deactivate(); }, [this]() { - withTimeoutHandler(defaultTimeoutHandler(), [this]() { - double evaluate_time, update_time, context_time; - { - ScopedElapsedTimeRecorder evaluate_time_recorder(evaluate_time); - if (std::isnan(evaluateSimulationTime())) { - if (not waiting_for_engagement_to_be_completed and engageable()) { - engage(); - waiting_for_engagement_to_be_completed = true; // NOTE: DIRTY HACK!!! - } else if (engaged()) { - activateNonUserDefinedControllers(); - waiting_for_engagement_to_be_completed = false; // NOTE: DIRTY HACK!!! - } - } else if (currentScenarioDefinition()) { - currentScenarioDefinition()->evaluate(); - } else { - throw Error("No script evaluable."); + const auto evaluate_time = execution_timer.invoke("evaluate", [&]() { + if (std::isnan(evaluateSimulationTime())) { + if (not waiting_for_engagement_to_be_completed and engageable()) { + engage(); + waiting_for_engagement_to_be_completed = true; // NOTE: DIRTY HACK!!! + } else if (engaged()) { + activateNonUserDefinedControllers(); + waiting_for_engagement_to_be_completed = false; // NOTE: DIRTY HACK!!! } + } else if (currentScenarioDefinition()) { + currentScenarioDefinition()->evaluate(); + } else { + throw Error("No script evaluable."); } - { - ScopedElapsedTimeRecorder update_time_recorder(update_time); - SimulatorCore::update(); - } - { - ScopedElapsedTimeRecorder context_time_recorder(context_time); - publishCurrentContext(); - } - - tier4_simulation_msgs::msg::UserDefinedValue msg; - msg.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; - msg.value = std::to_string(evaluate_time * 1e3); - evaluate_time_publisher->publish(msg); - msg.value = std::to_string(update_time * 1e3); - update_time_publisher->publish(msg); - msg.value = std::to_string(context_time * 1e3); - output_time_publisher->publish(msg); }); + + const auto update_time = + execution_timer.invoke("update", [&]() { SimulatorCore::update(); }); + + const auto output_time = + execution_timer.invoke("output", [&]() { publishCurrentContext(); }); + + tier4_simulation_msgs::msg::UserDefinedValue msg; + msg.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; + msg.value = + std::to_string(std::chrono::duration(evaluate_time).count()); + evaluate_time_publisher->publish(msg); + msg.value = std::to_string(std::chrono::duration(update_time).count()); + update_time_publisher->publish(msg); + msg.value = std::to_string(std::chrono::duration(output_time).count()); + output_time_publisher->publish(msg); + + if (auto time_until_trigger = timer->time_until_trigger(); time_until_trigger.count() < 0) { + /* + Ideally, the scenario should be terminated with an error if the total + time for the ScenarioDefinition evaluation and the traffic_simulator's + updateFrame exceeds the time allowed for a single frame. However, we + have found that many users are in environments where it is not possible + to run the simulator stably at 30 FPS (the default setting) while + running Autoware. In order to prioritize comfortable daily use, we + decided to give up full reproducibility of the scenario and only provide + warnings. + */ + RCLCPP_WARN_STREAM( + get_logger(), + "Your machine is not powerful enough to run the scenario at the specified frame rate (" + << local_frame_rate << " Hz). Current frame execution exceeds " + << -time_until_trigger.count() / 1.e6 << " milliseconds."); + } }); }; From e36acb255c97e4203507738a01295d18f6f0871f Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 5 Feb 2025 17:25:27 +0900 Subject: [PATCH 14/77] refactor: delete unused code --- .../openscenario_interpreter.hpp | 30 --------------- .../utility/scoped_elapsed_time_recorder.hpp | 38 ------------------- 2 files changed, 68 deletions(-) delete mode 100644 openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp index 9d7eb82322f..923749539d6 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp @@ -203,36 +203,6 @@ class Interpreter : public rclcpp_lifecycle::LifecycleNode, return handle(); } } - - template - auto withTimeoutHandler(TimeoutHandler && handle, Thunk && thunk) -> decltype(auto) - { - if (const auto time = execution_timer.invoke("", thunk); currentLocalFrameRate() < time) { - handle(execution_timer.getStatistics("")); - } - } - - auto defaultTimeoutHandler() const - { - /* - Ideally, the scenario should be terminated with an error if the total - time for the ScenarioDefinition evaluation and the traffic_simulator's - updateFrame exceeds the time allowed for a single frame. However, we - have found that many users are in environments where it is not possible - to run the simulator stably at 30 FPS (the default setting) while - running Autoware. In order to prioritize comfortable daily use, we - decided to give up full reproducibility of the scenario and only provide - warnings. - */ - - return [this](const auto & statistics) { - RCLCPP_WARN_STREAM( - get_logger(), - "Your machine is not powerful enough to run the scenario at the specified frame rate (" - << local_frame_rate << " Hz). We recommend that you reduce the frame rate to " - << 1000.0 / statistics.template max().count() << " or less."); - }; - } }; } // namespace openscenario_interpreter diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp deleted file mode 100644 index 2ebf004b12d..00000000000 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/utility/scoped_elapsed_time_recorder.hpp +++ /dev/null @@ -1,38 +0,0 @@ -// Copyright 2015 TIER IV, Inc. All rights reserved. -// -// 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 OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ -#define OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ - -#include -#include - -template -class ScopedElapsedTimeRecorder -{ -public: - explicit ScopedElapsedTimeRecorder(double & output_seconds) : output_seconds(output_seconds) {} - - ~ScopedElapsedTimeRecorder() - { - output_seconds = std::abs(std::chrono::duration(Clock::now() - start).count()); - } - -private: - std::chrono::time_point start = Clock::now(); - - double & output_seconds; -}; - -#endif // OPENSCENARIO_INTERPRETER__UTILITY__SCOPED_ELAPSED_TIME_RECORDER_HPP_ From 23450f40f04b37baca5462f015c07b884eec3c89 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 5 Feb 2025 17:41:27 +0900 Subject: [PATCH 15/77] fix: delete unavailable include --- .../openscenario_interpreter/src/openscenario_interpreter.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 6f648e3916c..3b1482f07f3 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -24,7 +24,6 @@ #include #include #include -#include #include #include From c7c59ffb148a8045a1af4d82197c23d7be4b669c Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 17:14:58 +0900 Subject: [PATCH 16/77] chore: move execution_time_test.yaml into optional_workflow.txt --- test_runner/scenario_test_runner/config/optional_workflow.txt | 1 + test_runner/scenario_test_runner/config/workflow.txt | 1 - 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 test_runner/scenario_test_runner/config/optional_workflow.txt diff --git a/test_runner/scenario_test_runner/config/optional_workflow.txt b/test_runner/scenario_test_runner/config/optional_workflow.txt new file mode 100644 index 00000000000..10542919b4e --- /dev/null +++ b/test_runner/scenario_test_runner/config/optional_workflow.txt @@ -0,0 +1 @@ +$(find-pkg-share scenario_test_runner)/scenario/execution_time_test.yaml diff --git a/test_runner/scenario_test_runner/config/workflow.txt b/test_runner/scenario_test_runner/config/workflow.txt index bab005da398..b5ae1aef8e6 100644 --- a/test_runner/scenario_test_runner/config/workflow.txt +++ b/test_runner/scenario_test_runner/config/workflow.txt @@ -9,7 +9,6 @@ $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityConditio $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.RelativeSpeedCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.TimeToCollisionCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ControllerAction.AssignControllerAction.yaml -$(find-pkg-share scenario_test_runner)/scenario/execution_time_test.yaml $(find-pkg-share scenario_test_runner)/scenario/LateralAction.LaneChangeAction-RoadShoulder.yaml $(find-pkg-share scenario_test_runner)/scenario/LongitudinalAction.SpeedAction.yaml $(find-pkg-share scenario_test_runner)/scenario/Property.isBlind.yaml From 868aae6e9077d8f9c2e58d3431d01e300b1f1c70 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 17:15:35 +0900 Subject: [PATCH 17/77] chore: change scenario condition for test --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 77784e9d500..a79754f5068 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time_ms/update rule: greaterThan - value: 5 + value: 0 - name: 'avoid startup' delay: 0 conditionEdge: none From 2891d3e034b0e991df3081c0ff69c80046b81190 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 17:16:34 +0900 Subject: [PATCH 18/77] feat: create outputs when workflow.sh is executed --- .github/workflows/workflow.sh | 38 +++++++++++++++++++++++++++-------- 1 file changed, 30 insertions(+), 8 deletions(-) diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index 736b7561e97..aa13435276d 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -11,17 +11,39 @@ then exit 1 fi -exit_status=0 +workflow_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')" +rm -rf "$workflow_directory" +mkdir -p "$workflow_directory" while IFS= read -r line do ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" "$@" - ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml - command_exit_status=$? - if [ $command_exit_status -ne 0 ]; then - echo "Error: caught non-zero exit status（code: $command_exit_status)" - exit_status=1 - fi + + # save the result file before overwriting by next scenario + mkdir -p "$(dirname "$dest_file")" + cp /tmp/scenario_test_runner/result.junit.xml "$workflow_directory/$(basename "$line" | sed 's/\.[^.]*$//').junit.xml" done < "$file_path" -exit $exit_status +failure_report="$workflow_directory/failure_report.md" +rm -f "$failure_report" +touch "$failure_report" +failure_found=0 + +for file in "$workflow_directory"/*.junit.xml; do + [ -e "$file" ] || continue + if grep -q 'scenario failed
\n\n\`\`\`xml" + grep '\n" + } >> "$failure_report" + fi +done + +if [ $failure_found -eq 1 ]; then + exit 1 +else: + exit 0 +fi From 4ccc6758ea6e1a17f531173d80461a734be9ebd6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 17:32:18 +0900 Subject: [PATCH 19/77] feat: add optional workflow execution to BuildAndRun.yaml --- .github/workflows/BuildAndRun.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 1b344986866..bc561f3525b 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -120,6 +120,16 @@ jobs: ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/workflow.txt global_frame_rate:=20 shell: bash + - name: Scenario test + run: | + source install/setup.bash + source install/local_setup.bash + # execute scenarios but ignore the return code + ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true + # failed to comment if the failure_report.md is empty. + gh pr comment ${{ github.event.pull_request.number }} --body $(cat /tmp/scenario_workflow/optional_workflow/failure_report.md) || true + shell: bash + - name: Upload Lcov result uses: actions/upload-artifact@v4 with: From 75e9908550ad0d21e82f186bb925ce2d29f9c151 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 19:16:28 +0900 Subject: [PATCH 20/77] fix: divide comment step in BuildAndRun.yaml --- .github/workflows/BuildAndRun.yaml | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index bc561f3525b..4f145d64f26 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -120,16 +120,20 @@ jobs: ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/workflow.txt global_frame_rate:=20 shell: bash - - name: Scenario test + - name: Scenario test (optional) run: | source install/setup.bash source install/local_setup.bash # execute scenarios but ignore the return code ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true - # failed to comment if the failure_report.md is empty. - gh pr comment ${{ github.event.pull_request.number }} --body $(cat /tmp/scenario_workflow/optional_workflow/failure_report.md) || true shell: bash + - name: Add scenario failure comment (failed to comment if the failure_report.md is empty) + run: | + gh pr comment ${{ github.event.pull_request.number }} --body $(cat /tmp/scenario_workflow/optional_workflow/failure_report.md) || true + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + - name: Upload Lcov result uses: actions/upload-artifact@v4 with: From 8a4bb4beca48ec2a4b407519ee1c96adbb0e5fc8 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 21:05:59 +0900 Subject: [PATCH 21/77] fix: use comment action --- .github/workflows/BuildAndRun.yaml | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 4f145d64f26..95c5cac4776 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -128,10 +128,14 @@ jobs: ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true shell: bash - - name: Add scenario failure comment (failed to comment if the failure_report.md is empty) - run: | - gh pr comment ${{ github.event.pull_request.number }} --body $(cat /tmp/scenario_workflow/optional_workflow/failure_report.md) || true - env: + - name: register command output to github variable + run: echo "::set-output name=scenario_test_output::$(cat /tmp/scenario_workflow/optional_workflow/output.txt)" + + - name: comment scenario_test_output + uses: alawiii521/current-pr-comment@v1.0 + with: + comment: + ${{ steps.scenario_test_output.outputs.scenario_test_output }} GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - name: Upload Lcov result From 38684cc27c1fc7c07fd753820cc9f761ba174ec6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 6 Feb 2025 23:05:48 +0900 Subject: [PATCH 22/77] fix: correct reading file path --- .github/workflows/BuildAndRun.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 95c5cac4776..d514f8add48 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -129,7 +129,7 @@ jobs: shell: bash - name: register command output to github variable - run: echo "::set-output name=scenario_test_output::$(cat /tmp/scenario_workflow/optional_workflow/output.txt)" + run: echo "::set-output name=scenario_test_output::$(cat /tmp/scenario_workflow/optional_workflow/failure_report.md)" - name: comment scenario_test_output uses: alawiii521/current-pr-comment@v1.0 From b21f26544ba1b381f6c26228b18dbff113a3b5ff Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 7 Feb 2025 02:00:46 +0900 Subject: [PATCH 23/77] fix: set step id to use output correctly --- .github/workflows/BuildAndRun.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index d514f8add48..942dc000687 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -129,13 +129,14 @@ jobs: shell: bash - name: register command output to github variable - run: echo "::set-output name=scenario_test_output::$(cat /tmp/scenario_workflow/optional_workflow/failure_report.md)" + id: optional_test_result + run: echo "scenario_test_output=$(cat /tmp/scenario_workflow/optional_workflow/failure_report.md)" >> $GITHUB_OUTPUT - name: comment scenario_test_output uses: alawiii521/current-pr-comment@v1.0 with: comment: - ${{ steps.scenario_test_output.outputs.scenario_test_output }} + ${{ steps.optional_test_result.outputs.scenario_test_output }} GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - name: Upload Lcov result From 6c8e9e5c0668895494c657ddc9ddd9ae6d1b2482 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 7 Feb 2025 08:16:58 +0900 Subject: [PATCH 24/77] fix: handle multiple line output --- .github/workflows/BuildAndRun.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 942dc000687..489aeda61a6 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -130,7 +130,12 @@ jobs: - name: register command output to github variable id: optional_test_result - run: echo "scenario_test_output=$(cat /tmp/scenario_workflow/optional_workflow/failure_report.md)" >> $GITHUB_OUTPUT + run: | + { + echo "scenario_test_output=<> "$GITHUB_OUTPUT" - name: comment scenario_test_output uses: alawiii521/current-pr-comment@v1.0 From 103f815666288a73b66f07a3add0f5471ddbd6b6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 7 Feb 2025 14:53:12 +0900 Subject: [PATCH 25/77] fix: use github script to commet file content --- .github/workflows/BuildAndRun.yaml | 24 ++++++++++-------------- 1 file changed, 10 insertions(+), 14 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 489aeda61a6..7c807ca74cd 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -128,21 +128,17 @@ jobs: ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true shell: bash - - name: register command output to github variable - id: optional_test_result - run: | - { - echo "scenario_test_output=<> "$GITHUB_OUTPUT" - - - name: comment scenario_test_output - uses: alawiii521/current-pr-comment@v1.0 + - uses: actions/github-script@v7 with: - comment: - ${{ steps.optional_test_result.outputs.scenario_test_output }} - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + script: | + const fs = require('fs'); + const commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); + octokit.rest.issues.createComment({ + issue_number: context.issue.number, + owner: context.repo.owner, + repo: context.repo.repo, + body: commentBody + }) - name: Upload Lcov result uses: actions/upload-artifact@v4 From 16f08dc06cbee2c7e56899d77a27efe0d8cbd0da Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 7 Feb 2025 17:29:40 +0900 Subject: [PATCH 26/77] fix: modify github script --- .github/workflows/BuildAndRun.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 7c807ca74cd..9d8b5e7b9f5 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -130,10 +130,11 @@ jobs: - uses: actions/github-script@v7 with: + github-token: ${{ secrets.GITHUB_TOKEN }} script: | const fs = require('fs'); const commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); - octokit.rest.issues.createComment({ + await github.rest.issues.createComment({ issue_number: context.issue.number, owner: context.repo.owner, repo: context.repo.repo, From 2ad8c6cf49b554d16a994a030fc852dd78e44636 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 13 Feb 2025 21:47:38 +0900 Subject: [PATCH 27/77] chore: simplify failure report --- .github/workflows/BuildAndRun.yaml | 3 +++ .github/workflows/workflow.sh | 3 +-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 9d8b5e7b9f5..b5317179e02 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -134,6 +134,9 @@ jobs: script: | const fs = require('fs'); const commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); + if (commentBody) { + commentBody = '## failure optional scenarios\n' + commentBody; + } await github.rest.issues.createComment({ issue_number: context.issue.number, owner: context.repo.owner, diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index aa13435276d..ea608c128c2 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -34,8 +34,7 @@ for file in "$workflow_directory"/*.junit.xml; do if grep -q 'scenario failed
\n\n\`\`\`xml" + echo "
scenario failed: $(basename "$file")
\n\n\`\`\`xml" grep '
\n" } >> "$failure_report" From 6b3842b7ea254fc356aaab648a2be28c2c85391f Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 13 Feb 2025 21:48:57 +0900 Subject: [PATCH 28/77] chore: post failure report only when failure scenarios exist --- .github/workflows/BuildAndRun.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index b5317179e02..c5ddb41e853 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -121,14 +121,17 @@ jobs: shell: bash - name: Scenario test (optional) + id: optional-scenario-test run: | source install/setup.bash source install/local_setup.bash # execute scenarios but ignore the return code ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true + echo failure=$(grep -c "> $GITHUB_OUTPUT shell: bash - uses: actions/github-script@v7 + if: steps.optional-scenario-test.outputs.failure > 0 with: github-token: ${{ secrets.GITHUB_TOKEN }} script: | From 28ddff327c286525e72897987353b382620cfb9a Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 14 Feb 2025 01:35:40 +0900 Subject: [PATCH 29/77] fix: remove const from overwritten variable in github script --- .github/workflows/BuildAndRun.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index c5ddb41e853..13739d3dd87 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -136,7 +136,7 @@ jobs: github-token: ${{ secrets.GITHUB_TOKEN }} script: | const fs = require('fs'); - const commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); + let commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); if (commentBody) { commentBody = '## failure optional scenarios\n' + commentBody; } From 4177209a09bbcd484411b5fc2fb8fb26667518b7 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 14 Feb 2025 11:19:21 +0900 Subject: [PATCH 30/77] Revert "chore: change scenario condition for test" This reverts commit 868aae6e9077d8f9c2e58d3431d01e300b1f1c70. --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index a79754f5068..77784e9d500 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time_ms/update rule: greaterThan - value: 0 + value: 5 - name: 'avoid startup' delay: 0 conditionEdge: none From 3e4c1f80cdce8101fb59e09fd28c36ba9c1938d5 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Mon, 17 Feb 2025 19:07:06 +0900 Subject: [PATCH 31/77] Add experimental noise model `noise_v2` Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.hpp | 12 ++ .../detection_sensor/detection_sensor.cpp | 153 +++++++++++++++++- 2 files changed, 163 insertions(+), 2 deletions(-) diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp index 474837afa06..7700de774dc 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp @@ -25,6 +25,7 @@ #include #include #include +#include #include #include @@ -79,6 +80,17 @@ class DetectionSensor : public DetectionSensorBase std::queue, double>> unpublished_detected_entities, unpublished_ground_truth_entities; + struct NoiseOutput + { + double simulation_time, distance_noise, yaw_noise; + + bool mask, flip; + + explicit NoiseOutput(double simulation_time = 0.0) : simulation_time(simulation_time) {} + }; + + std::unordered_map noise_outputs; + public: explicit DetectionSensor( const double current_simulation_time, diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index da114db12b9..1e641be419d 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -29,6 +29,7 @@ #include #include #include +#include #include namespace simple_sensor_simulator @@ -294,7 +295,7 @@ auto DetectionSensor::update( simulator publishes, comment out the following function and implement new one. */ - auto noise = [&](auto detected_entities, auto simulation_time) { + auto noise_v0 = [&](auto detected_entities, [[maybe_unused]] auto simulation_time) { auto position_noise_distribution = std::normal_distribution<>(0.0, configuration_.pos_noise_stddev()); @@ -317,6 +318,154 @@ auto DetectionSensor::update( return detected_entities; }; + auto noise_v1 = [&](const auto & detected_entities, auto simulation_time) { + auto noised_detected_entities = std::decay_t(); + + for (auto detected_entity : detected_entities) { + auto [noise_output, success] = + noise_outputs.emplace(detected_entity.name(), simulation_time); + + const auto x = + detected_entity.pose().position().x() - ego_entity_status->pose().position().x(); + const auto y = + detected_entity.pose().position().y() - ego_entity_status->pose().position().y(); + const auto velocity = std::hypot( + detected_entity.action_status().twist().linear().x(), + detected_entity.action_status().twist().linear().y()); + const auto interval = + simulation_time - std::exchange(noise_output->second.simulation_time, simulation_time); + + /* + We use AR(1) model to model noises' autocorrelation coefficients for + all kinds of noises. We define the `tau` used for AR(1) from + `delta_t`, which means the time interval when the autocorrelation + coefficient becomes `correlation_for_delta_t` (0.5). the flowwing + values are all handly tuned, need to be determined by statistics of + real data. + + Autocorrelation coefficient=0.5 for an interval of delta_t. + */ + static constexpr auto correlation_for_delta_t = 0.5; + + auto find = [&](auto ellipse_normalized_x_radius, const auto & targets) { + const std::vector ellipse_y_radiuses = {10, 20, 40, 60, 80, 120, 150, 180, 1000}; + const auto distance = std::hypot(x / ellipse_normalized_x_radius, y); + for (auto i = std::size_t(0); i < ellipse_y_radiuses.size(); ++i) { + if (distance < ellipse_y_radiuses[i]) { + return targets[i]; + } + } + return 0.0; + }; + + auto ar1_noise = [this](auto prev_noise, auto mean, auto standard_deviation, auto phi) { + return mean + phi * (prev_noise - mean) + + std::normal_distribution( + 0, standard_deviation * std::sqrt(1 - phi * phi))(random_engine_); + }; + + noise_output->second.distance_noise = [&]() { + static constexpr auto delta_t = 0.5; // [s] + static constexpr auto ellipse_normalized_x_radius_mean = 1.8; + static constexpr auto ellipse_normalized_x_radius_standard_deviation = 1.8; + + static const std::vector means = {0.25, 0.27, 0.44, 0.67, 1.00, + 3.00, 4.09, 3.40, 0.00}; + static const std::vector standard_deviations = {0.35, 0.54, 0.83, 1.14, 1.60, + 3.56, 4.31, 3.61, 0.00}; + + const auto tau = -delta_t / std::log(correlation_for_delta_t); + const auto phi = std::exp(-interval / tau); + + const auto mean = find(ellipse_normalized_x_radius_mean, means); + const auto standard_deviation = + find(ellipse_normalized_x_radius_standard_deviation, standard_deviations); + + return ar1_noise(noise_output->second.distance_noise, mean, standard_deviation, phi); + }(); + + noise_output->second.yaw_noise = [&]() { + static constexpr auto delta_t = 0.3; // [s] + static constexpr auto ellipse_normalized_x_radius_mean = 0.6; + static constexpr auto ellipse_normalized_x_radius_standard_deviation = 1.6; + + static const std::vector means = {0.01, 0.01, 0.00, 0.03, 0.04, + 0.00, 0.01, 0.00, 0.00}; + static const std::vector standard_deviations = {0.05, 0.1, 0.15, 0.15, 0.2, + 0.2, 0.3, 0.4, 0.5}; + + const auto tau = -delta_t / std::log(correlation_for_delta_t); + const auto phi = std::exp(-interval / tau); + + const auto mean = find(ellipse_normalized_x_radius_mean, means); + const auto standard_deviation = + find(ellipse_normalized_x_radius_standard_deviation, standard_deviations); + + return ar1_noise(noise_output->second.yaw_noise, mean, standard_deviation, phi); + }(); + + noise_output->second.flip = [&]() { + static constexpr auto delta_t = 0.1; // [s] + static constexpr auto velocity_threshold = 0.1; + static constexpr auto rate_for_stop_objects = 0.3; + + const auto tau = -delta_t / std::log(correlation_for_delta_t); + const auto phi = std::exp(-interval / tau); + const auto rate = + (noise_output->second.flip ? 1.0 : 0.0) * phi + (1 - phi) * rate_for_stop_objects; + + return velocity < velocity_threshold and + std::uniform_real_distribution()(random_engine_) < rate; + }(); + + noise_output->second.mask = [&]() { + static constexpr auto delta_t = 0.3; // [s] + static constexpr auto ellipse_normalized_x_radius = 0.6; + + static const std::vector unmask_rates = {0.92, 0.77, 0.74, 0.66, 0.57, + 0.28, 0.09, 0.03, 0.00}; + + const auto tau = -delta_t / std::log(correlation_for_delta_t); + const auto phi = std::exp(-interval / tau); + const auto rate = (noise_output->second.mask ? 1.0 : 0.0) * phi + + (1 - phi) * (1 - find(ellipse_normalized_x_radius, unmask_rates)); + + return std::uniform_real_distribution()(random_engine_) < rate; + }(); + + if (noise_output->second.mask) { + const auto angle = std::atan2(y, x); + + const auto yaw_rotated_orientation = + tf2::Quaternion( + detected_entity.pose().orientation().x(), detected_entity.pose().orientation().y(), + detected_entity.pose().orientation().z(), detected_entity.pose().orientation().w()) * + tf2::Quaternion( + tf2::Vector3(0, 0, 1), + noise_output->second.yaw_noise + (noise_output->second.flip ? M_PI : 0.0)); + + detected_entity.mutable_pose()->mutable_position()->set_x( + detected_entity.pose().position().x() + + noise_output->second.distance_noise * std::cos(angle)); + detected_entity.mutable_pose()->mutable_position()->set_y( + detected_entity.pose().position().y() + + noise_output->second.distance_noise * std::sin(angle)); + detected_entity.mutable_pose()->mutable_orientation()->set_x( + yaw_rotated_orientation.getX()); + detected_entity.mutable_pose()->mutable_orientation()->set_y( + yaw_rotated_orientation.getY()); + detected_entity.mutable_pose()->mutable_orientation()->set_z( + yaw_rotated_orientation.getZ()); + detected_entity.mutable_pose()->mutable_orientation()->set_w( + yaw_rotated_orientation.getW()); + + noised_detected_entities.push_back(detected_entity); + } + } + + return noised_detected_entities; + }; + auto make_detected_objects = [&](const auto & detected_entities) { auto detected_objects = autoware_perception_msgs::msg::DetectedObjects(); detected_objects.header.stamp = current_ros_time; @@ -350,7 +499,7 @@ auto DetectionSensor::update( current_simulation_time - unpublished_detected_entities.front().second >= configuration_.object_recognition_delay()) { const auto modified_detected_entities = - std::apply(noise, unpublished_detected_entities.front()); + std::apply(noise_v1, unpublished_detected_entities.front()); detected_objects_publisher->publish(make_detected_objects(modified_detected_entities)); unpublished_detected_entities.pop(); } From 24ee675bd2324283beb578f04103880eeb2748c0 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 12:08:17 +0900 Subject: [PATCH 32/77] refactor: generate UserDefinedValue message for each publishers --- .../src/openscenario_interpreter.cpp | 21 +++++++++++-------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 09058ad1cc6..722fa48c4c3 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -216,15 +216,18 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result const auto output_time = execution_timer.invoke("output", [&]() { publishCurrentContext(); }); - tier4_simulation_msgs::msg::UserDefinedValue msg; - msg.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; - msg.value = - std::to_string(std::chrono::duration(evaluate_time).count()); - evaluate_time_publisher->publish(msg); - msg.value = std::to_string(std::chrono::duration(update_time).count()); - update_time_publisher->publish(msg); - msg.value = std::to_string(std::chrono::duration(output_time).count()); - output_time_publisher->publish(msg); + auto generate_double_user_defined_value_message = [](double value) { + tier4_simulation_msgs::msg::UserDefinedValue message; + message.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE; + message.value = std::to_string(value); + return message; + }; + evaluate_time_publisher->publish(generate_double_user_defined_value_message( + std::chrono::duration(evaluate_time).count())); + update_time_publisher->publish(generate_double_user_defined_value_message( + std::chrono::duration(update_time).count())); + output_time_publisher->publish(generate_double_user_defined_value_message( + std::chrono::duration(output_time).count())); if (auto time_until_trigger = timer->time_until_trigger(); time_until_trigger.count() < 0) { /* From 2d999c5800d12fafaaf19c07df41d6873e40fa79 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 14:02:35 +0900 Subject: [PATCH 33/77] chore: use seconds as time unit in execution_time topics --- .../src/openscenario_interpreter.cpp | 12 ++++++------ .../scenario/execution_time_test.yaml | 12 ++++++------ 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 722fa48c4c3..1bcd18e8db9 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -38,11 +38,11 @@ Interpreter::Interpreter(const rclcpp::NodeOptions & options) : rclcpp_lifecycle::LifecycleNode("openscenario_interpreter", options), publisher_of_context(create_publisher("context", rclcpp::QoS(1).transient_local())), evaluate_time_publisher(create_publisher( - "/simulation/interpreter/execution_time_ms/evaluate", rclcpp::QoS(1).transient_local())), + "/simulation/interpreter/execution_time/evaluate", rclcpp::QoS(1).transient_local())), update_time_publisher(create_publisher( - "/simulation/interpreter/execution_time_ms/update", rclcpp::QoS(1).transient_local())), + "/simulation/interpreter/execution_time/update", rclcpp::QoS(1).transient_local())), output_time_publisher(create_publisher( - "/simulation/interpreter/execution_time_ms/output", rclcpp::QoS(1).transient_local())), + "/simulation/interpreter/execution_time/output", rclcpp::QoS(1).transient_local())), local_frame_rate(30), local_real_time_factor(1.0), osc_path(""), @@ -223,11 +223,11 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result return message; }; evaluate_time_publisher->publish(generate_double_user_defined_value_message( - std::chrono::duration(evaluate_time).count())); + std::chrono::duration(evaluate_time).count())); update_time_publisher->publish(generate_double_user_defined_value_message( - std::chrono::duration(update_time).count())); + std::chrono::duration(update_time).count())); output_time_publisher->publish(generate_double_user_defined_value_message( - std::chrono::duration(output_time).count())); + std::chrono::duration(output_time).count())); if (auto time_until_trigger = timer->time_until_trigger(); time_until_trigger.count() < 0) { /* diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 77784e9d500..4b6917f3459 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -140,9 +140,9 @@ OpenSCENARIO: conditionEdge: none ByValueCondition: UserDefinedValueCondition: - name: /simulation/interpreter/execution_time_ms/evaluate + name: /simulation/interpreter/execution_time/evaluate rule: greaterThan - value: 1 + value: 0.001 - name: 'avoid startup' delay: 0 conditionEdge: none @@ -156,9 +156,9 @@ OpenSCENARIO: conditionEdge: none ByValueCondition: UserDefinedValueCondition: - name: /simulation/interpreter/execution_time_ms/update + name: /simulation/interpreter/execution_time/update rule: greaterThan - value: 5 + value: 0.005 - name: 'avoid startup' delay: 0 conditionEdge: none @@ -172,9 +172,9 @@ OpenSCENARIO: conditionEdge: none ByValueCondition: UserDefinedValueCondition: - name: /simulation/interpreter/execution_time_ms/output + name: /simulation/interpreter/execution_time/output rule: greaterThan - value: 1 + value: 0.001 - name: 'avoid startup' delay: 0 conditionEdge: none From ee50d605d2ab2286cf3b1f868a9a50396a702c2c Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 14:03:54 +0900 Subject: [PATCH 34/77] refactor: use minimum captures for lambda --- .../src/openscenario_interpreter.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index 1bcd18e8db9..e76840d2d84 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -194,7 +194,7 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result deactivate(); }, [this]() { - const auto evaluate_time = execution_timer.invoke("evaluate", [&]() { + const auto evaluate_time = execution_timer.invoke("evaluate", [this]() { if (std::isnan(evaluateSimulationTime())) { if (not waiting_for_engagement_to_be_completed and engageable()) { engage(); @@ -211,10 +211,10 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result }); const auto update_time = - execution_timer.invoke("update", [&]() { SimulatorCore::update(); }); + execution_timer.invoke("update", []() { SimulatorCore::update(); }); const auto output_time = - execution_timer.invoke("output", [&]() { publishCurrentContext(); }); + execution_timer.invoke("output", [this]() { publishCurrentContext(); }); auto generate_double_user_defined_value_message = [](double value) { tier4_simulation_msgs::msg::UserDefinedValue message; From 5ece3937e6d102b242bf1ead6c49b56690d31c99 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 14:15:15 +0900 Subject: [PATCH 35/77] chore: make the meaning of test results in comments more accurate --- .github/workflows/BuildAndRun.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 13739d3dd87..615d53f57d3 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -32,9 +32,9 @@ jobs: strategy: fail-fast: false matrix: - rosdistro: [humble] - runs_on: [ubuntu-22.04] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20 - cmake_build_type: [RelWithDebInfo, Release] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build. + rosdistro: [ humble ] + runs_on: [ ubuntu-22.04 ] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20 + cmake_build_type: [ RelWithDebInfo, Release ] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build. steps: - name: Suppress warnings run: git config --global --add safe.directory '*' @@ -78,7 +78,7 @@ jobs: - name: Install sonar-scanner and build-wrapper uses: sonarsource/sonarcloud-github-c-cpp@v3 env: - SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }} + SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }} - name: Build with SonarCloud Build Wrapper run: | @@ -138,7 +138,7 @@ jobs: const fs = require('fs'); let commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); if (commentBody) { - commentBody = '## failure optional scenarios\n' + commentBody; + commentBody = '## Failure optional scenarios\nThis is an experimental check and does not block merging the pull-request. But, please be aware that this may indicate a regression.\n' + commentBody; } await github.rest.issues.createComment({ issue_number: context.issue.number, From 30e525ccdce49cc2f13d21f9fa9b9b15f58ccbbb Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 15:54:07 +0900 Subject: [PATCH 36/77] chore: modify scenario threshold for test --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 4b6917f3459..2e060567594 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time/update rule: greaterThan - value: 0.005 + value: 0.000 - name: 'avoid startup' delay: 0 conditionEdge: none From ec974eff0fcc47a1e76a01e71ae9722883edc5d1 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 16:03:10 +0900 Subject: [PATCH 37/77] refactor: split workflow.sh into 2 scripts --- .github/workflows/BuildAndRun.yaml | 1 + .github/workflows/generate_workflow_report.sh | 23 ++++++++++++++ .github/workflows/workflow.sh | 30 +++++-------------- 3 files changed, 32 insertions(+), 22 deletions(-) create mode 100755 .github/workflows/generate_workflow_report.sh diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 615d53f57d3..a038ccb5bf7 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -127,6 +127,7 @@ jobs: source install/local_setup.bash # execute scenarios but ignore the return code ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true + ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh /tmp/scenario_workflow/optional_workflow echo failure=$(grep -c "> $GITHUB_OUTPUT shell: bash diff --git a/.github/workflows/generate_workflow_report.sh b/.github/workflows/generate_workflow_report.sh new file mode 100755 index 00000000000..7c1341ee695 --- /dev/null +++ b/.github/workflows/generate_workflow_report.sh @@ -0,0 +1,23 @@ +#!/bin/sh + +if [ $# -ne 1 ]; then + echo "Usage: $0 " + exit 1 +fi + +workflow_directory="$1" +failure_report="$workflow_directory/failure_report.md" + +rm -f "$failure_report" +touch "$failure_report" + +for file in "$workflow_directory"/*.junit.xml; do + [ -e "$file" ] || continue + if grep -q 'scenario failed: $(basename "$file")
\n\n\`\`\`xml" + grep '\n" + } >> "$failure_report" + fi +done diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index ea608c128c2..36edfef3cb9 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -11,6 +11,7 @@ then exit 1 fi +exit_status=0 workflow_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')" rm -rf "$workflow_directory" mkdir -p "$workflow_directory" @@ -18,31 +19,16 @@ mkdir -p "$workflow_directory" while IFS= read -r line do ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" "$@" + ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml + command_exit_status=$? + if [ $command_exit_status -ne 0 ]; then + echo "Error: caught non-zero exit status（code: $command_exit_status)" + exit_status=1 + fi # save the result file before overwriting by next scenario mkdir -p "$(dirname "$dest_file")" cp /tmp/scenario_test_runner/result.junit.xml "$workflow_directory/$(basename "$line" | sed 's/\.[^.]*$//').junit.xml" done < "$file_path" -failure_report="$workflow_directory/failure_report.md" -rm -f "$failure_report" -touch "$failure_report" -failure_found=0 - -for file in "$workflow_directory"/*.junit.xml; do - [ -e "$file" ] || continue - if grep -q 'scenario failed: $(basename "$file")
\n\n\`\`\`xml" - grep '\n" - } >> "$failure_report" - fi -done - -if [ $failure_found -eq 1 ]; then - exit 1 -else: - exit 0 -fi +exit $exit_status From a33a55827492613f2d71f160d7f9b6c81d30707a Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 18 Feb 2025 18:05:37 +0900 Subject: [PATCH 38/77] Add parameters for new noise model Signed-off-by: yamacir-kit --- .../include/concealer/get_parameter.hpp | 10 ++- .../detection_sensor/detection_sensor.cpp | 84 +++++++++++++------ .../config/parameters.yaml | 30 +++++++ 3 files changed, 97 insertions(+), 27 deletions(-) diff --git a/external/concealer/include/concealer/get_parameter.hpp b/external/concealer/include/concealer/get_parameter.hpp index aabee2c0ced..6de1671e9a5 100644 --- a/external/concealer/include/concealer/get_parameter.hpp +++ b/external/concealer/include/concealer/get_parameter.hpp @@ -35,7 +35,15 @@ auto getParameter( template auto getParameter(const std::string & name, T value = {}) { - auto node = rclcpp::Node("get_parameter", "simulation"); + /* + The parameter file should be + + : + : + ros__parameters: + ... + */ + static auto node = rclcpp::Node("AutowareUniverse", "simulation"); return getParameter(node.get_node_parameters_interface(), name, value); } } // namespace concealer diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 1e641be419d..e792b6f4d39 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include #include @@ -322,6 +323,8 @@ auto DetectionSensor::update( auto noised_detected_entities = std::decay_t(); for (auto detected_entity : detected_entities) { + using namespace std::literals::string_literals; + auto [noise_output, success] = noise_outputs.emplace(detected_entity.name(), simulation_time); @@ -345,7 +348,8 @@ auto DetectionSensor::update( Autocorrelation coefficient=0.5 for an interval of delta_t. */ - static constexpr auto correlation_for_delta_t = 0.5; + static const auto correlation_for_delta_t = concealer::getParameter( + detected_objects_publisher->get_topic_name() + ".noise.v1.correlation_for_delta_t"s); auto find = [&](auto ellipse_normalized_x_radius, const auto & targets) { const std::vector ellipse_y_radiuses = {10, 20, 40, 60, 80, 120, 150, 180, 1000}; @@ -358,25 +362,34 @@ auto DetectionSensor::update( return 0.0; }; - auto ar1_noise = [this](auto prev_noise, auto mean, auto standard_deviation, auto phi) { - return mean + phi * (prev_noise - mean) + + auto ar1_noise = [this](auto previous_noise, auto mean, auto standard_deviation, auto phi) { + return mean + phi * (previous_noise - mean) + std::normal_distribution( 0, standard_deviation * std::sqrt(1 - phi * phi))(random_engine_); }; noise_output->second.distance_noise = [&]() { - static constexpr auto delta_t = 0.5; // [s] - static constexpr auto ellipse_normalized_x_radius_mean = 1.8; - static constexpr auto ellipse_normalized_x_radius_standard_deviation = 1.8; + static const auto delta_t = concealer::getParameter( + detected_objects_publisher->get_topic_name() + ".noise.v1.distance.delta_t"s); + + static const auto ellipse_normalized_x_radius_mean = concealer::getParameter( + detected_objects_publisher->get_topic_name() + + ".noise.v1.distance.ellipse_normalized_x_radius.mean"s); + + static const auto ellipse_normalized_x_radius_standard_deviation = + concealer::getParameter( + detected_objects_publisher->get_topic_name() + + ".noise.v1.distance.ellipse_normalized_x_radius.standard_deviation"s); - static const std::vector means = {0.25, 0.27, 0.44, 0.67, 1.00, - 3.00, 4.09, 3.40, 0.00}; - static const std::vector standard_deviations = {0.35, 0.54, 0.83, 1.14, 1.60, - 3.56, 4.31, 3.61, 0.00}; + static const auto means = concealer::getParameter>( + detected_objects_publisher->get_topic_name() + ".noise.v1.distance.means"s); + + static const auto standard_deviations = concealer::getParameter>( + detected_objects_publisher->get_topic_name() + + ".noise.v1.distance.standard_deviations"s); const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); - const auto mean = find(ellipse_normalized_x_radius_mean, means); const auto standard_deviation = find(ellipse_normalized_x_radius_standard_deviation, standard_deviations); @@ -385,18 +398,26 @@ auto DetectionSensor::update( }(); noise_output->second.yaw_noise = [&]() { - static constexpr auto delta_t = 0.3; // [s] - static constexpr auto ellipse_normalized_x_radius_mean = 0.6; - static constexpr auto ellipse_normalized_x_radius_standard_deviation = 1.6; + static const auto delta_t = concealer::getParameter( + detected_objects_publisher->get_topic_name() + ".noise.v1.distance.delta_t"s); + + static const auto ellipse_normalized_x_radius_mean = concealer::getParameter( + detected_objects_publisher->get_topic_name() + + ".noise.v1.yaw.ellipse_normalized_x_radius.mean"s); - static const std::vector means = {0.01, 0.01, 0.00, 0.03, 0.04, - 0.00, 0.01, 0.00, 0.00}; - static const std::vector standard_deviations = {0.05, 0.1, 0.15, 0.15, 0.2, - 0.2, 0.3, 0.4, 0.5}; + static const auto ellipse_normalized_x_radius_standard_deviation = + concealer::getParameter( + detected_objects_publisher->get_topic_name() + + ".noise.v1.yaw.ellipse_normalized_x_radius.standard_deviation"s); + + static const auto means = concealer::getParameter>( + detected_objects_publisher->get_topic_name() + ".noise.v1.yaw.means"s); + + static const auto standard_deviations = concealer::getParameter>( + detected_objects_publisher->get_topic_name() + ".noise.v1.yaw.standard_deviations"s); const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); - const auto mean = find(ellipse_normalized_x_radius_mean, means); const auto standard_deviation = find(ellipse_normalized_x_radius_standard_deviation, standard_deviations); @@ -405,9 +426,16 @@ auto DetectionSensor::update( }(); noise_output->second.flip = [&]() { - static constexpr auto delta_t = 0.1; // [s] - static constexpr auto velocity_threshold = 0.1; - static constexpr auto rate_for_stop_objects = 0.3; + static const auto delta_t = concealer::getParameter( + detected_objects_publisher->get_topic_name() + ".noise.v1.yaw_flip.delta_t"s); + + static const auto velocity_threshold = concealer::getParameter( + detected_objects_publisher->get_topic_name() + + ".noise.v1.yaw_flip.velocity_threshold"s); + + static const auto rate_for_stop_objects = concealer::getParameter( + detected_objects_publisher->get_topic_name() + + ".noise.v1.yaw_flip.rate_for_stop_objects"s); const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); @@ -419,11 +447,15 @@ auto DetectionSensor::update( }(); noise_output->second.mask = [&]() { - static constexpr auto delta_t = 0.3; // [s] - static constexpr auto ellipse_normalized_x_radius = 0.6; + static const auto delta_t = concealer::getParameter( + detected_objects_publisher->get_topic_name() + ".noise.v1.mask.delta_t"s); + + static const auto ellipse_normalized_x_radius = concealer::getParameter( + detected_objects_publisher->get_topic_name() + + ".noise.v1.mask.ellipse_normalized_x_radius"s); - static const std::vector unmask_rates = {0.92, 0.77, 0.74, 0.66, 0.57, - 0.28, 0.09, 0.03, 0.00}; + static const auto unmask_rates = concealer::getParameter>( + detected_objects_publisher->get_topic_name() + ".noise.v1.mask.rates"s); const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 93d35b0fd37..b1b813848f2 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -127,3 +127,33 @@ simulation: multiplicative: mean: 0.0 standard_deviation: 0.0 + /perception/object_recognition/detection/objects: + version: 20240605 # architecture_type suffix (mandatory) + seed: 0 # If 0 is specified, a random seed value will be generated for each run. + noise: + model: + version: 1 # Any of [0, 1] + v1: + correlation_for_delta_t: 0.5 + distance: + delta_t: 0.5 + ellipse_normalized_x_radius: + mean: 1.0 + standard_deviation: 1.0 + means: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + standard_deviations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + yaw: + delta_t: 0.3 + ellipse_normalized_x_radius: + mean: 1.0 + standard_deviation: 1.0 + means: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + standard_deviations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + yaw_flip: + delta_t: 0.1 + velocity_threshold: 0.1 + rate_for_stop_objects: 0.0 + mask: + delta_t: 0.3 + ellipse_normalized_x_radius: 1.0 + rates: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] From 80cdeaf25da27a8cafcf8cffad86a003163b6fda Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 18:07:12 +0900 Subject: [PATCH 39/77] refactor: format BuildAndRun.yaml --- .github/workflows/BuildAndRun.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index a038ccb5bf7..0479ab02eb3 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -32,9 +32,9 @@ jobs: strategy: fail-fast: false matrix: - rosdistro: [ humble ] - runs_on: [ ubuntu-22.04 ] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20 - cmake_build_type: [ RelWithDebInfo, Release ] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build. + rosdistro: [humble] + runs_on: [ubuntu-22.04] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20 + cmake_build_type: [RelWithDebInfo, Release] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build. steps: - name: Suppress warnings run: git config --global --add safe.directory '*' From cd0d1ea501de6d7aabc7801eff46f1ed0b6ecc3e Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Feb 2025 18:12:23 +0900 Subject: [PATCH 40/77] refactor: use NOTE command in pull-request comment for optional scenario test --- .github/workflows/BuildAndRun.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 0479ab02eb3..b4cef11430e 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -139,7 +139,7 @@ jobs: const fs = require('fs'); let commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8'); if (commentBody) { - commentBody = '## Failure optional scenarios\nThis is an experimental check and does not block merging the pull-request. But, please be aware that this may indicate a regression.\n' + commentBody; + commentBody = '## Failure optional scenarios\n> [!NOTE]\n> This is an experimental check and does not block merging the pull-request. \n> But, please be aware that this may indicate a regression.\n' + commentBody; } await github.rest.issues.createComment({ issue_number: context.issue.number, From fee4a4927c394b38db282a42dea8b63f6de4b89f Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 18 Feb 2025 18:16:26 +0900 Subject: [PATCH 41/77] Cleanup Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.cpp | 18 +++++++----------- 1 file changed, 7 insertions(+), 11 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index e792b6f4d39..d755ee78097 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -342,15 +342,17 @@ auto DetectionSensor::update( We use AR(1) model to model noises' autocorrelation coefficients for all kinds of noises. We define the `tau` used for AR(1) from `delta_t`, which means the time interval when the autocorrelation - coefficient becomes `correlation_for_delta_t` (0.5). the flowwing - values are all handly tuned, need to be determined by statistics of - real data. - - Autocorrelation coefficient=0.5 for an interval of delta_t. + coefficient becomes `correlation_for_delta_t`. */ static const auto correlation_for_delta_t = concealer::getParameter( detected_objects_publisher->get_topic_name() + ".noise.v1.correlation_for_delta_t"s); + auto ar1_noise = [this](auto previous_noise, auto mean, auto standard_deviation, auto phi) { + return mean + phi * (previous_noise - mean) + + std::normal_distribution( + 0, standard_deviation * std::sqrt(1 - phi * phi))(random_engine_); + }; + auto find = [&](auto ellipse_normalized_x_radius, const auto & targets) { const std::vector ellipse_y_radiuses = {10, 20, 40, 60, 80, 120, 150, 180, 1000}; const auto distance = std::hypot(x / ellipse_normalized_x_radius, y); @@ -362,12 +364,6 @@ auto DetectionSensor::update( return 0.0; }; - auto ar1_noise = [this](auto previous_noise, auto mean, auto standard_deviation, auto phi) { - return mean + phi * (previous_noise - mean) + - std::normal_distribution( - 0, standard_deviation * std::sqrt(1 - phi * phi))(random_engine_); - }; - noise_output->second.distance_noise = [&]() { static const auto delta_t = concealer::getParameter( detected_objects_publisher->get_topic_name() + ".noise.v1.distance.delta_t"s); From 603273f93910854a0fdd228dfef0aee537fb6398 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 19 Feb 2025 11:14:43 +0900 Subject: [PATCH 42/77] Revert "chore: modify scenario threshold for test" This reverts commit 30e525ccdce49cc2f13d21f9fa9b9b15f58ccbbb. --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 2e060567594..4b6917f3459 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time/update rule: greaterThan - value: 0.000 + value: 0.005 - name: 'avoid startup' delay: 0 conditionEdge: none From 51b10b8c28d0088ae44f245c29a88ea55fec676b Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 19 Feb 2025 12:51:35 +0900 Subject: [PATCH 43/77] Add new parameter `ellipse_y_radiuses` Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.cpp | 51 ++++++++++++------- .../config/parameters.yaml | 1 + 2 files changed, 34 insertions(+), 18 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index d755ee78097..6521099e9b5 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -353,15 +353,25 @@ auto DetectionSensor::update( 0, standard_deviation * std::sqrt(1 - phi * phi))(random_engine_); }; - auto find = [&](auto ellipse_normalized_x_radius, const auto & targets) { - const std::vector ellipse_y_radiuses = {10, 20, 40, 60, 80, 120, 150, 180, 1000}; - const auto distance = std::hypot(x / ellipse_normalized_x_radius, y); - for (auto i = std::size_t(0); i < ellipse_y_radiuses.size(); ++i) { - if (distance < ellipse_y_radiuses[i]) { - return targets[i]; + auto selector = [&](auto ellipse_normalized_x_radius, const auto & targets) { + static const auto ellipse_y_radiuses = concealer::getParameter>( + detected_objects_publisher->get_topic_name() + ".noise.v1.ellipse_y_radiuses"s); + return [&, ellipse_normalized_x_radius, ellipse_y_radiuses, targets]() { + /* + If the parameter `.noise.v1.ellipse_y_radiuses` + contains the value 0.0, division by zero will occur here. However, + in that case, the distance will be NaN, which correctly expresses + the meaning that "the distance cannot be defined", and this + function will work without any problems (zero will be returned). + */ + const auto distance = std::hypot(x / ellipse_normalized_x_radius, y); + for (auto i = std::size_t(0); i < ellipse_y_radiuses.size(); ++i) { + if (distance < ellipse_y_radiuses[i]) { + return targets[i]; + } } - } - return 0.0; + return 0.0; + }; }; noise_output->second.distance_noise = [&]() { @@ -386,11 +396,12 @@ auto DetectionSensor::update( const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); - const auto mean = find(ellipse_normalized_x_radius_mean, means); - const auto standard_deviation = - find(ellipse_normalized_x_radius_standard_deviation, standard_deviations); - return ar1_noise(noise_output->second.distance_noise, mean, standard_deviation, phi); + static const auto mean = selector(ellipse_normalized_x_radius_mean, means); + static const auto standard_deviation = + selector(ellipse_normalized_x_radius_standard_deviation, standard_deviations); + + return ar1_noise(noise_output->second.distance_noise, mean(), standard_deviation(), phi); }(); noise_output->second.yaw_noise = [&]() { @@ -414,11 +425,12 @@ auto DetectionSensor::update( const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); - const auto mean = find(ellipse_normalized_x_radius_mean, means); - const auto standard_deviation = - find(ellipse_normalized_x_radius_standard_deviation, standard_deviations); - return ar1_noise(noise_output->second.yaw_noise, mean, standard_deviation, phi); + static const auto mean = selector(ellipse_normalized_x_radius_mean, means); + static const auto standard_deviation = + selector(ellipse_normalized_x_radius_standard_deviation, standard_deviations); + + return ar1_noise(noise_output->second.yaw_noise, mean(), standard_deviation(), phi); }(); noise_output->second.flip = [&]() { @@ -455,8 +467,11 @@ auto DetectionSensor::update( const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); - const auto rate = (noise_output->second.mask ? 1.0 : 0.0) * phi + - (1 - phi) * (1 - find(ellipse_normalized_x_radius, unmask_rates)); + + static const auto unmask_rate = selector(ellipse_normalized_x_radius, unmask_rates); + + const auto rate = + (noise_output->second.mask ? 1.0 : 0.0) * phi + (1 - phi) * (1 - unmask_rate()); return std::uniform_real_distribution()(random_engine_) < rate; }(); diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index b1b813848f2..3bbb6af71c2 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -135,6 +135,7 @@ simulation: version: 1 # Any of [0, 1] v1: correlation_for_delta_t: 0.5 + ellipse_y_radiuses: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] distance: delta_t: 0.5 ellipse_normalized_x_radius: From 2bdc21e56b4034618e33ee8674f7d6725d4074a6 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 19 Feb 2025 15:44:21 +0900 Subject: [PATCH 44/77] Add new local function `parameter` and `parameters` Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.cpp | 109 ++++++------------ .../config/parameters.yaml | 22 ++-- 2 files changed, 44 insertions(+), 87 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 6521099e9b5..20618bda585 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -323,8 +323,6 @@ auto DetectionSensor::update( auto noised_detected_entities = std::decay_t(); for (auto detected_entity : detected_entities) { - using namespace std::literals::string_literals; - auto [noise_output, success] = noise_outputs.emplace(detected_entity.name(), simulation_time); @@ -338,14 +336,23 @@ auto DetectionSensor::update( const auto interval = simulation_time - std::exchange(noise_output->second.simulation_time, simulation_time); + auto parameter = [this](const auto & name) { + return concealer::getParameter( + detected_objects_publisher->get_topic_name() + std::string(".noise.v1.") + name); + }; + + auto parameters = [this](const auto & name) { + return concealer::getParameter>( + detected_objects_publisher->get_topic_name() + std::string(".noise.v1.") + name); + }; + /* We use AR(1) model to model noises' autocorrelation coefficients for all kinds of noises. We define the `tau` used for AR(1) from `delta_t`, which means the time interval when the autocorrelation coefficient becomes `correlation_for_delta_t`. */ - static const auto correlation_for_delta_t = concealer::getParameter( - detected_objects_publisher->get_topic_name() + ".noise.v1.correlation_for_delta_t"s); + static const auto correlation_for_delta_t = parameter("correlation_for_delta_t"); auto ar1_noise = [this](auto previous_noise, auto mean, auto standard_deviation, auto phi) { return mean + phi * (previous_noise - mean) + @@ -354,9 +361,8 @@ auto DetectionSensor::update( }; auto selector = [&](auto ellipse_normalized_x_radius, const auto & targets) { - static const auto ellipse_y_radiuses = concealer::getParameter>( - detected_objects_publisher->get_topic_name() + ".noise.v1.ellipse_y_radiuses"s); - return [&, ellipse_normalized_x_radius, ellipse_y_radiuses, targets]() { + return [&, ellipse_normalized_x_radius, + ellipse_y_radiuses = parameters("ellipse_y_radiuses"), targets]() { /* If the parameter `.noise.v1.ellipse_y_radiuses` contains the value 0.0, division by zero will occur here. However, @@ -375,77 +381,38 @@ auto DetectionSensor::update( }; noise_output->second.distance_noise = [&]() { - static const auto delta_t = concealer::getParameter( - detected_objects_publisher->get_topic_name() + ".noise.v1.distance.delta_t"s); - - static const auto ellipse_normalized_x_radius_mean = concealer::getParameter( - detected_objects_publisher->get_topic_name() + - ".noise.v1.distance.ellipse_normalized_x_radius.mean"s); + static const auto tau = + -parameter("distance.delta_t") / std::log(correlation_for_delta_t); + static const auto mean = selector( + parameter("distance.ellipse_normalized_x_radius.mean"), parameters("distance.means")); + static const auto standard_deviation = selector( + parameter("distance.ellipse_normalized_x_radius.standard_deviation"), + parameters("distance.standard_deviations")); - static const auto ellipse_normalized_x_radius_standard_deviation = - concealer::getParameter( - detected_objects_publisher->get_topic_name() + - ".noise.v1.distance.ellipse_normalized_x_radius.standard_deviation"s); - - static const auto means = concealer::getParameter>( - detected_objects_publisher->get_topic_name() + ".noise.v1.distance.means"s); - - static const auto standard_deviations = concealer::getParameter>( - detected_objects_publisher->get_topic_name() + - ".noise.v1.distance.standard_deviations"s); - - const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); - static const auto mean = selector(ellipse_normalized_x_radius_mean, means); - static const auto standard_deviation = - selector(ellipse_normalized_x_radius_standard_deviation, standard_deviations); - return ar1_noise(noise_output->second.distance_noise, mean(), standard_deviation(), phi); }(); noise_output->second.yaw_noise = [&]() { - static const auto delta_t = concealer::getParameter( - detected_objects_publisher->get_topic_name() + ".noise.v1.distance.delta_t"s); - - static const auto ellipse_normalized_x_radius_mean = concealer::getParameter( - detected_objects_publisher->get_topic_name() + - ".noise.v1.yaw.ellipse_normalized_x_radius.mean"s); + static const auto tau = -parameter("yaw.delta_t") / std::log(correlation_for_delta_t); + static const auto mean = + selector(parameter("yaw.ellipse_normalized_x_radius.mean"), parameters("yaw.means")); + static const auto standard_deviation = selector( + parameter("yaw.ellipse_normalized_x_radius.standard_deviation"), + parameters("yaw.standard_deviations")); - static const auto ellipse_normalized_x_radius_standard_deviation = - concealer::getParameter( - detected_objects_publisher->get_topic_name() + - ".noise.v1.yaw.ellipse_normalized_x_radius.standard_deviation"s); - - static const auto means = concealer::getParameter>( - detected_objects_publisher->get_topic_name() + ".noise.v1.yaw.means"s); - - static const auto standard_deviations = concealer::getParameter>( - detected_objects_publisher->get_topic_name() + ".noise.v1.yaw.standard_deviations"s); - - const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); - static const auto mean = selector(ellipse_normalized_x_radius_mean, means); - static const auto standard_deviation = - selector(ellipse_normalized_x_radius_standard_deviation, standard_deviations); - return ar1_noise(noise_output->second.yaw_noise, mean(), standard_deviation(), phi); }(); noise_output->second.flip = [&]() { - static const auto delta_t = concealer::getParameter( - detected_objects_publisher->get_topic_name() + ".noise.v1.yaw_flip.delta_t"s); - - static const auto velocity_threshold = concealer::getParameter( - detected_objects_publisher->get_topic_name() + - ".noise.v1.yaw_flip.velocity_threshold"s); + static const auto tau = + -parameter("yaw_flip.delta_t") / std::log(correlation_for_delta_t); + static const auto velocity_threshold = parameter("yaw_flip.velocity_threshold"); + static const auto rate_for_stop_objects = parameter("yaw_flip.rate_for_stop_objects"); - static const auto rate_for_stop_objects = concealer::getParameter( - detected_objects_publisher->get_topic_name() + - ".noise.v1.yaw_flip.rate_for_stop_objects"s); - - const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); const auto rate = (noise_output->second.flip ? 1.0 : 0.0) * phi + (1 - phi) * rate_for_stop_objects; @@ -455,21 +422,11 @@ auto DetectionSensor::update( }(); noise_output->second.mask = [&]() { - static const auto delta_t = concealer::getParameter( - detected_objects_publisher->get_topic_name() + ".noise.v1.mask.delta_t"s); - - static const auto ellipse_normalized_x_radius = concealer::getParameter( - detected_objects_publisher->get_topic_name() + - ".noise.v1.mask.ellipse_normalized_x_radius"s); - - static const auto unmask_rates = concealer::getParameter>( - detected_objects_publisher->get_topic_name() + ".noise.v1.mask.rates"s); + static const auto tau = -parameter("mask.delta_t") / std::log(correlation_for_delta_t); + static const auto unmask_rate = selector( + parameter("mask.ellipse_normalized_x_radius"), parameters("mask.unmask_rates")); - const auto tau = -delta_t / std::log(correlation_for_delta_t); const auto phi = std::exp(-interval / tau); - - static const auto unmask_rate = selector(ellipse_normalized_x_radius, unmask_rates); - const auto rate = (noise_output->second.mask ? 1.0 : 0.0) * phi + (1 - phi) * (1 - unmask_rate()); diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 3bbb6af71c2..60d3aee43b7 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -139,22 +139,22 @@ simulation: distance: delta_t: 0.5 ellipse_normalized_x_radius: - mean: 1.0 - standard_deviation: 1.0 - means: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - standard_deviations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + mean: 1.8 + standard_deviation: 1.8 + means: [0.25, 0.27, 0.44, 0.67, 1.00, 3.00, 4.09, 3.40, 0.00] + standard_deviations: [0.35, 0.54, 0.83, 1.14, 1.60, 3.56, 4.31, 3.61, 0.00] yaw: delta_t: 0.3 ellipse_normalized_x_radius: - mean: 1.0 - standard_deviation: 1.0 - means: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - standard_deviations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + mean: 0.6 + standard_deviation: 1.6 + means: [0.01, 0.01, 0.00, 0.03, 0.04, 0.00, 0.01, 0.00, 0.00] + standard_deviations: [0.05, 0.1, 0.15, 0.15, 0.2, 0.2, 0.3, 0.4, 0.5] yaw_flip: delta_t: 0.1 velocity_threshold: 0.1 - rate_for_stop_objects: 0.0 + rate_for_stop_objects: 0.3 mask: delta_t: 0.3 - ellipse_normalized_x_radius: 1.0 - rates: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + ellipse_normalized_x_radius: 0.6 + unmask_rates: [0.92, 0.77, 0.74, 0.66, 0.57, 0.28, 0.09, 0.03, 0.00] From 0354c36ff83da99fa2b2f6188fb01b0448dd5801 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 19 Feb 2025 17:36:49 +0900 Subject: [PATCH 45/77] Update `DetectionSensor` to switch noise models according to parameter Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.hpp | 7 +++- .../detection_sensor/detection_sensor.cpp | 41 ++++++++++--------- .../config/parameters.yaml | 6 +-- 3 files changed, 30 insertions(+), 24 deletions(-) diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp index 7700de774dc..3379f146e9e 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp @@ -17,6 +17,7 @@ #include +#include #include #include #include @@ -91,6 +92,8 @@ class DetectionSensor : public DetectionSensorBase std::unordered_map noise_outputs; + int noise_model_version; + public: explicit DetectionSensor( const double current_simulation_time, @@ -100,7 +103,9 @@ class DetectionSensor : public DetectionSensorBase : DetectionSensorBase(current_simulation_time, configuration), detected_objects_publisher(publisher), ground_truth_objects_publisher(ground_truth_publisher), - random_engine_(configuration.random_seed()) + random_engine_(configuration.random_seed()), + noise_model_version(concealer::getParameter( + detected_objects_publisher->get_topic_name() + std::string(".noise.model.version"))) { } diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 20618bda585..e01bed4ae9e 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -19,7 +19,6 @@ #include #include #include -#include #include #include #include @@ -296,7 +295,7 @@ auto DetectionSensor::update( simulator publishes, comment out the following function and implement new one. */ - auto noise_v0 = [&](auto detected_entities, [[maybe_unused]] auto simulation_time) { + auto noise_v1 = [&](auto detected_entities, [[maybe_unused]] auto simulation_time) { auto position_noise_distribution = std::normal_distribution<>(0.0, configuration_.pos_noise_stddev()); @@ -319,7 +318,7 @@ auto DetectionSensor::update( return detected_entities; }; - auto noise_v1 = [&](const auto & detected_entities, auto simulation_time) { + auto noise_v2 = [&](const auto & detected_entities, auto simulation_time) { auto noised_detected_entities = std::decay_t(); for (auto detected_entity : detected_entities) { @@ -338,12 +337,12 @@ auto DetectionSensor::update( auto parameter = [this](const auto & name) { return concealer::getParameter( - detected_objects_publisher->get_topic_name() + std::string(".noise.v1.") + name); + detected_objects_publisher->get_topic_name() + std::string(".noise.v2.") + name); }; auto parameters = [this](const auto & name) { return concealer::getParameter>( - detected_objects_publisher->get_topic_name() + std::string(".noise.v1.") + name); + detected_objects_publisher->get_topic_name() + std::string(".noise.v2.") + name); }; /* @@ -361,10 +360,10 @@ auto DetectionSensor::update( }; auto selector = [&](auto ellipse_normalized_x_radius, const auto & targets) { - return [&, ellipse_normalized_x_radius, - ellipse_y_radiuses = parameters("ellipse_y_radiuses"), targets]() { + static const auto ellipse_y_radiuses = parameters("ellipse_y_radiuses"); + return [&, ellipse_normalized_x_radius, targets]() { /* - If the parameter `.noise.v1.ellipse_y_radiuses` + If the parameter `.noise.v2.ellipse_y_radiuses` contains the value 0.0, division by zero will occur here. However, in that case, the distance will be NaN, which correctly expresses the meaning that "the distance cannot be defined", and this @@ -388,9 +387,7 @@ auto DetectionSensor::update( static const auto standard_deviation = selector( parameter("distance.ellipse_normalized_x_radius.standard_deviation"), parameters("distance.standard_deviations")); - const auto phi = std::exp(-interval / tau); - return ar1_noise(noise_output->second.distance_noise, mean(), standard_deviation(), phi); }(); @@ -401,9 +398,7 @@ auto DetectionSensor::update( static const auto standard_deviation = selector( parameter("yaw.ellipse_normalized_x_radius.standard_deviation"), parameters("yaw.standard_deviations")); - const auto phi = std::exp(-interval / tau); - return ar1_noise(noise_output->second.yaw_noise, mean(), standard_deviation(), phi); }(); @@ -411,12 +406,9 @@ auto DetectionSensor::update( static const auto tau = -parameter("yaw_flip.delta_t") / std::log(correlation_for_delta_t); static const auto velocity_threshold = parameter("yaw_flip.velocity_threshold"); - static const auto rate_for_stop_objects = parameter("yaw_flip.rate_for_stop_objects"); - + static const auto stop_rate = parameter("yaw_flip.stop_rate"); const auto phi = std::exp(-interval / tau); - const auto rate = - (noise_output->second.flip ? 1.0 : 0.0) * phi + (1 - phi) * rate_for_stop_objects; - + const auto rate = (noise_output->second.flip ? 1.0 : 0.0) * phi + (1 - phi) * stop_rate; return velocity < velocity_threshold and std::uniform_real_distribution()(random_engine_) < rate; }(); @@ -425,11 +417,9 @@ auto DetectionSensor::update( static const auto tau = -parameter("mask.delta_t") / std::log(correlation_for_delta_t); static const auto unmask_rate = selector( parameter("mask.ellipse_normalized_x_radius"), parameters("mask.unmask_rates")); - const auto phi = std::exp(-interval / tau); const auto rate = (noise_output->second.mask ? 1.0 : 0.0) * phi + (1 - phi) * (1 - unmask_rate()); - return std::uniform_real_distribution()(random_engine_) < rate; }(); @@ -466,6 +456,17 @@ auto DetectionSensor::update( return noised_detected_entities; }; + auto noise = [&](auto &&... xs) { + switch (noise_model_version) { + default: + [[fallthrough]]; + case 1: + return noise_v1(std::forward(xs)...); + case 2: + return noise_v2(std::forward(xs)...); + } + }; + auto make_detected_objects = [&](const auto & detected_entities) { auto detected_objects = autoware_perception_msgs::msg::DetectedObjects(); detected_objects.header.stamp = current_ros_time; @@ -499,7 +500,7 @@ auto DetectionSensor::update( current_simulation_time - unpublished_detected_entities.front().second >= configuration_.object_recognition_delay()) { const auto modified_detected_entities = - std::apply(noise_v1, unpublished_detected_entities.front()); + std::apply(noise, unpublished_detected_entities.front()); detected_objects_publisher->publish(make_detected_objects(modified_detected_entities)); unpublished_detected_entities.pop(); } diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 60d3aee43b7..85b002c220c 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -132,8 +132,8 @@ simulation: seed: 0 # If 0 is specified, a random seed value will be generated for each run. noise: model: - version: 1 # Any of [0, 1] - v1: + version: 2 # Any of [1, 2]. + v2: correlation_for_delta_t: 0.5 ellipse_y_radiuses: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] distance: @@ -153,7 +153,7 @@ simulation: yaw_flip: delta_t: 0.1 velocity_threshold: 0.1 - rate_for_stop_objects: 0.3 + stop_rate: 0.3 mask: delta_t: 0.3 ellipse_normalized_x_radius: 0.6 From 962eabd2250f2b3f903c48bee85d2d61197d02ea Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 19 Feb 2025 18:33:50 +0900 Subject: [PATCH 46/77] Add array size check to local function `parameters` Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.cpp | 33 +++++++++++++------ .../config/parameters.yaml | 2 +- 2 files changed, 24 insertions(+), 11 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index e01bed4ae9e..1309b8101bf 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -25,6 +25,7 @@ #include #include #include +#include #include #include #include @@ -341,8 +342,19 @@ auto DetectionSensor::update( }; auto parameters = [this](const auto & name) { - return concealer::getParameter>( - detected_objects_publisher->get_topic_name() + std::string(".noise.v2.") + name); + const auto full_name = + detected_objects_publisher->get_topic_name() + std::string(".noise.v2.") + name; + const auto parameters = concealer::getParameter>(full_name); + static const auto size = parameters.size(); + if (parameters.size() != size) { + throw common::Error( + "The sizes of the arrays given to the parameters of noise model version 2 must be " + "the same. The parameter ", + std::quoted(full_name), " is an array of size ", parameters.size(), + ", and the other arrays are of size ", size, "."); + } else { + return parameters; + } }; /* @@ -360,18 +372,19 @@ auto DetectionSensor::update( }; auto selector = [&](auto ellipse_normalized_x_radius, const auto & targets) { - static const auto ellipse_y_radiuses = parameters("ellipse_y_radiuses"); + static const auto ellipse_y_radii = parameters("ellipse_y_radii"); return [&, ellipse_normalized_x_radius, targets]() { /* - If the parameter `.noise.v2.ellipse_y_radiuses` - contains the value 0.0, division by zero will occur here. However, - in that case, the distance will be NaN, which correctly expresses - the meaning that "the distance cannot be defined", and this - function will work without any problems (zero will be returned). + If the parameter `.noise.v2.ellipse_y_radii` + contains the value 0.0, division by zero will occur here. + However, in that case, the distance will be NaN, which correctly + expresses the meaning that "the distance cannot be defined", and + this function will work without any problems (zero will be + returned). */ const auto distance = std::hypot(x / ellipse_normalized_x_radius, y); - for (auto i = std::size_t(0); i < ellipse_y_radiuses.size(); ++i) { - if (distance < ellipse_y_radiuses[i]) { + for (auto i = std::size_t(0); i < ellipse_y_radii.size(); ++i) { + if (distance < ellipse_y_radii[i]) { return targets[i]; } } diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 85b002c220c..52504889231 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -135,7 +135,7 @@ simulation: version: 2 # Any of [1, 2]. v2: correlation_for_delta_t: 0.5 - ellipse_y_radiuses: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] + ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] distance: delta_t: 0.5 ellipse_normalized_x_radius: From 7d343c55b229f3c1eb4aabb28340b4dfd7f9ff98 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 15:07:00 +0900 Subject: [PATCH 47/77] Revert "Revert "chore: modify scenario threshold for test"" This reverts commit 603273f93910854a0fdd228dfef0aee537fb6398. --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 4b6917f3459..2e060567594 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time/update rule: greaterThan - value: 0.005 + value: 0.000 - name: 'avoid startup' delay: 0 conditionEdge: none From ec3360fa164a085a1603a7e2633ccdeb87cebedc Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 15:08:28 +0900 Subject: [PATCH 48/77] refactor: simplify workflow.sh --- .github/workflows/BuildAndRun.yaml | 4 ++-- .github/workflows/generate_workflow_report.sh | 12 +++--------- .github/workflows/workflow.sh | 11 +++-------- 3 files changed, 8 insertions(+), 19 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index b4cef11430e..42af8a3404a 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -127,8 +127,8 @@ jobs: source install/local_setup.bash # execute scenarios but ignore the return code ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true - ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh /tmp/scenario_workflow/optional_workflow - echo failure=$(grep -c "> $GITHUB_OUTPUT + ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh + echo failure=$(grep -c "> $GITHUB_OUTPUT shell: bash - uses: actions/github-script@v7 diff --git a/.github/workflows/generate_workflow_report.sh b/.github/workflows/generate_workflow_report.sh index 7c1341ee695..d431579a395 100755 --- a/.github/workflows/generate_workflow_report.sh +++ b/.github/workflows/generate_workflow_report.sh @@ -1,21 +1,15 @@ #!/bin/sh -if [ $# -ne 1 ]; then - echo "Usage: $0 " - exit 1 -fi - -workflow_directory="$1" -failure_report="$workflow_directory/failure_report.md" +failure_report="/tmp/scenario_workflow/failure_report.md" rm -f "$failure_report" touch "$failure_report" -for file in "$workflow_directory"/*.junit.xml; do +find /tmp/scenario_workflow -name "result.junit.xml" | while read file; do [ -e "$file" ] || continue if grep -q 'scenario failed: $(basename "$file")
\n\n\`\`\`xml" + echo "
scenario failed: $(dirname "${file#/tmp/scenario_workflow/}" | cut -d'/' -f1)
\n\n\`\`\`xml" grep '
\n" } >> "$failure_report" diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index 36edfef3cb9..1eef7e2938a 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -12,23 +12,18 @@ then fi exit_status=0 -workflow_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')" -rm -rf "$workflow_directory" -mkdir -p "$workflow_directory" +rm -rf "/tmp/scenario_workflow/" +mkdir -p "/tmp/scenario_workflow/" while IFS= read -r line do - ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" "$@" + ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:="/tmp/scenario_workflow/$(basename "$line" | sed 's/\.[^.]*$//')" "$@" ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml command_exit_status=$? if [ $command_exit_status -ne 0 ]; then echo "Error: caught non-zero exit status（code: $command_exit_status)" exit_status=1 fi - - # save the result file before overwriting by next scenario - mkdir -p "$(dirname "$dest_file")" - cp /tmp/scenario_test_runner/result.junit.xml "$workflow_directory/$(basename "$line" | sed 's/\.[^.]*$//').junit.xml" done < "$file_path" exit $exit_status From b747a1a1cc0c26f4186f5fef64e4cab2748c97fe Mon Sep 17 00:00:00 2001 From: abco20 Date: Mon, 17 Feb 2025 17:00:42 +0900 Subject: [PATCH 49/77] Add toPolygon function --- .../traffic_simulator/lanelet_wrapper/lanelet_map.hpp | 3 +++ .../src/lanelet_wrapper/lanelet_map.cpp | 11 +++++++++++ 2 files changed, 14 insertions(+) diff --git a/simulation/traffic_simulator/include/traffic_simulator/lanelet_wrapper/lanelet_map.hpp b/simulation/traffic_simulator/include/traffic_simulator/lanelet_wrapper/lanelet_map.hpp index ebda8439df7..3ac23aa2b97 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/lanelet_wrapper/lanelet_map.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/lanelet_wrapper/lanelet_map.hpp @@ -89,6 +89,9 @@ auto previousLaneletIds( auto previousLaneletIds( const lanelet::Ids & lanelet_ids, std::string_view turn_direction, const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids; + +// Polygons +auto toPolygon(const lanelet::ConstLineString3d & line_string) -> std::vector; } // namespace lanelet_map } // namespace lanelet_wrapper } // namespace traffic_simulator diff --git a/simulation/traffic_simulator/src/lanelet_wrapper/lanelet_map.cpp b/simulation/traffic_simulator/src/lanelet_wrapper/lanelet_map.cpp index 7a8d673cd5f..5a1d3474358 100644 --- a/simulation/traffic_simulator/src/lanelet_wrapper/lanelet_map.cpp +++ b/simulation/traffic_simulator/src/lanelet_wrapper/lanelet_map.cpp @@ -235,6 +235,17 @@ auto previousLaneletIds( } return lanelet::Ids(previous_lanelet_ids_set.begin(), previous_lanelet_ids_set.end()); } + +// Polygons +auto toPolygon(const lanelet::ConstLineString3d & line_string) -> std::vector +{ + std::vector points; + points.reserve(line_string.size()); + for (const auto & point : line_string) { + points.push_back(geometry_msgs::build().x(point.x()).y(point.y()).z(point.z())); + } + return points; +} } // namespace lanelet_map } // namespace lanelet_wrapper } // namespace traffic_simulator From 984f92899cc0d134d858fc90b4b3808cfdfa1a48 Mon Sep 17 00:00:00 2001 From: abco20 Date: Thu, 20 Feb 2025 15:29:17 +0900 Subject: [PATCH 50/77] move `getLeftBound` and `getRightBound` methods --- .../traffic_simulator/hdmap_utils/hdmap_utils.hpp | 4 ---- .../lanelet_wrapper/lanelet_map.hpp | 5 +++++ .../src/hdmap_utils/hdmap_utils.cpp | 12 ------------ .../src/lanelet_wrapper/lanelet_map.cpp | 11 +++++++++++ simulation/traffic_simulator/src/utils/distance.cpp | 6 ++++-- 5 files changed, 20 insertions(+), 18 deletions(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp b/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp index 199b01890da..f724fc08a67 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp @@ -179,8 +179,6 @@ class HdMapUtils const traffic_simulator::RoutingConfiguration & routing_configuration = traffic_simulator::RoutingConfiguration()) const -> std::optional; - auto getLeftBound(const lanelet::Id) const -> std::vector; - auto getLongitudinalDistance( const traffic_simulator_msgs::msg::LaneletPose & from_pose, const traffic_simulator_msgs::msg::LaneletPose & to_pose, @@ -200,8 +198,6 @@ class HdMapUtils const traffic_simulator::RoutingGraphType type = traffic_simulator::RoutingConfiguration().routing_graph_type) const -> lanelet::Ids; - auto getRightBound(const lanelet::Id) const -> std::vector; - auto getRightOfWayLaneletIds(const lanelet::Ids &) const -> std::unordered_map; diff --git a/simulation/traffic_simulator/include/traffic_simulator/lanelet_wrapper/lanelet_map.hpp b/simulation/traffic_simulator/include/traffic_simulator/lanelet_wrapper/lanelet_map.hpp index 3ac23aa2b97..f317a25db4f 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/lanelet_wrapper/lanelet_map.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/lanelet_wrapper/lanelet_map.hpp @@ -90,6 +90,11 @@ auto previousLaneletIds( const lanelet::Ids & lanelet_ids, std::string_view turn_direction, const RoutingGraphType type = RoutingConfiguration().routing_graph_type) -> lanelet::Ids; +// Bounds +auto leftBound(const lanelet::Id lanelet_id) -> std::vector; + +auto rightBound(const lanelet::Id lanelet_id) -> std::vector; + // Polygons auto toPolygon(const lanelet::ConstLineString3d & line_string) -> std::vector; } // namespace lanelet_map diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp index 8a4c5043465..71b43dce14a 100644 --- a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp +++ b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp @@ -740,18 +740,6 @@ auto HdMapUtils::getTrafficLightBulbPosition( return std::nullopt; } -auto HdMapUtils::getLeftBound(const lanelet::Id lanelet_id) const - -> std::vector -{ - return toPolygon(lanelet_map_ptr_->laneletLayer.get(lanelet_id).leftBound()); -} - -auto HdMapUtils::getRightBound(const lanelet::Id lanelet_id) const - -> std::vector -{ - return toPolygon(lanelet_map_ptr_->laneletLayer.get(lanelet_id).rightBound()); -} - auto HdMapUtils::getLaneChangeTrajectory( const traffic_simulator_msgs::msg::LaneletPose & from_pose, const traffic_simulator::lane_change::Parameter & lane_change_parameter) const diff --git a/simulation/traffic_simulator/src/lanelet_wrapper/lanelet_map.cpp b/simulation/traffic_simulator/src/lanelet_wrapper/lanelet_map.cpp index 5a1d3474358..f73d9c16db3 100644 --- a/simulation/traffic_simulator/src/lanelet_wrapper/lanelet_map.cpp +++ b/simulation/traffic_simulator/src/lanelet_wrapper/lanelet_map.cpp @@ -236,6 +236,17 @@ auto previousLaneletIds( return lanelet::Ids(previous_lanelet_ids_set.begin(), previous_lanelet_ids_set.end()); } +// Bounds +auto leftBound(const lanelet::Id lanelet_id) -> std::vector +{ + return toPolygon(LaneletWrapper::map()->laneletLayer.get(lanelet_id).leftBound()); +} + +auto rightBound(const lanelet::Id lanelet_id) -> std::vector +{ + return toPolygon(LaneletWrapper::map()->laneletLayer.get(lanelet_id).rightBound()); +} + // Polygons auto toPolygon(const lanelet::ConstLineString3d & line_string) -> std::vector { diff --git a/simulation/traffic_simulator/src/utils/distance.cpp b/simulation/traffic_simulator/src/utils/distance.cpp index 880a9cbfa5e..1985a7d415f 100644 --- a/simulation/traffic_simulator/src/utils/distance.cpp +++ b/simulation/traffic_simulator/src/utils/distance.cpp @@ -15,6 +15,7 @@ #include #include #include +#include #include #include #include @@ -197,12 +198,13 @@ auto boundingBoxLaneLongitudinalDistance( return std::nullopt; } +// Bounds auto distanceToLeftLaneBound( const geometry_msgs::msg::Pose & map_pose, const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id, const std::shared_ptr & hdmap_utils_ptr) -> double { - if (const auto bound = hdmap_utils_ptr->getLeftBound(lanelet_id); bound.empty()) { + if (const auto bound = lanelet_wrapper::lanelet_map::leftBound(lanelet_id); bound.empty()) { THROW_SEMANTIC_ERROR( "Failed to calculate left bounds of lanelet_id : ", lanelet_id, " please check lanelet map."); } else if (const auto polygon = @@ -235,7 +237,7 @@ auto distanceToRightLaneBound( const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id, const std::shared_ptr & hdmap_utils_ptr) -> double { - if (const auto bound = hdmap_utils_ptr->getRightBound(lanelet_id); bound.empty()) { + if (const auto & bound = lanelet_wrapper::lanelet_map::rightBound(lanelet_id); bound.empty()) { THROW_SEMANTIC_ERROR( "Failed to calculate right bounds of lanelet_id : ", lanelet_id, " please check lanelet map."); From 860c419d3eeb744a0a226e9e09bcee30f0e4e298 Mon Sep 17 00:00:00 2001 From: abco20 Date: Thu, 20 Feb 2025 15:18:27 +0900 Subject: [PATCH 51/77] remove hdmap_utils from `distanceToLeftLaneBound` and `distanceToRightLaneBound` --- .../traffic_simulator/utils/distance.hpp | 16 +-- .../traffic_simulator/src/utils/distance.cpp | 52 ++++----- .../test/src/utils/test_distance.cpp | 100 +++++++++--------- 3 files changed, 84 insertions(+), 84 deletions(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp b/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp index 5a43dd030dc..ab0f2b01085 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp @@ -84,23 +84,23 @@ auto distanceToLaneBound( auto distanceToLeftLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id, - const std::shared_ptr & hdmap_utils_ptr) -> double; + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Id lanelet_id) + -> double; auto distanceToLeftLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids, - const std::shared_ptr & hdmap_utils_ptr) -> double; + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids) + -> double; auto distanceToRightLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id, - const std::shared_ptr & hdmap_utils_ptr) -> double; + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Id lanelet_id) + -> double; auto distanceToRightLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids, - const std::shared_ptr & hdmap_utils_ptr) -> double; + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids) + -> double; // Other objects auto distanceToCrosswalk( diff --git a/simulation/traffic_simulator/src/utils/distance.cpp b/simulation/traffic_simulator/src/utils/distance.cpp index 1985a7d415f..f1053f4c1e1 100644 --- a/simulation/traffic_simulator/src/utils/distance.cpp +++ b/simulation/traffic_simulator/src/utils/distance.cpp @@ -201,8 +201,8 @@ auto boundingBoxLaneLongitudinalDistance( // Bounds auto distanceToLeftLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id, - const std::shared_ptr & hdmap_utils_ptr) -> double + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Id lanelet_id) + -> double { if (const auto bound = lanelet_wrapper::lanelet_map::leftBound(lanelet_id); bound.empty()) { THROW_SEMANTIC_ERROR( @@ -218,24 +218,26 @@ auto distanceToLeftLaneBound( auto distanceToLeftLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids, - const std::shared_ptr & hdmap_utils_ptr) -> double + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids) + -> double { if (lanelet_ids.empty()) { THROW_SEMANTIC_ERROR("Failing to calculate distanceToLeftLaneBound given an empty vector."); } - std::vector distances; - std::transform( - lanelet_ids.begin(), lanelet_ids.end(), std::back_inserter(distances), [&](auto lanelet_id) { - return distanceToLeftLaneBound(map_pose, bounding_box, lanelet_id, hdmap_utils_ptr); - }); - return *std::min_element(distances.begin(), distances.end()); + double min_distance = std::numeric_limits::max(); + for (const auto & lanelet_id : lanelet_ids) { + const auto distance = distanceToLeftLaneBound(map_pose, bounding_box, lanelet_id); + if (distance < min_distance) { + min_distance = distance; + } + } + return min_distance; } auto distanceToRightLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id, - const std::shared_ptr & hdmap_utils_ptr) -> double + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Id lanelet_id) + -> double { if (const auto & bound = lanelet_wrapper::lanelet_map::rightBound(lanelet_id); bound.empty()) { THROW_SEMANTIC_ERROR( @@ -252,18 +254,20 @@ auto distanceToRightLaneBound( auto distanceToRightLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids, - const std::shared_ptr & hdmap_utils_ptr) -> double + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids) + -> double { if (lanelet_ids.empty()) { THROW_SEMANTIC_ERROR("Failing to calculate distanceToRightLaneBound for given empty vector."); } - std::vector distances; - std::transform( - lanelet_ids.begin(), lanelet_ids.end(), std::back_inserter(distances), [&](auto lanelet_id) { - return distanceToRightLaneBound(map_pose, bounding_box, lanelet_id, hdmap_utils_ptr); - }); - return *std::min_element(distances.begin(), distances.end()); + double min_distance = std::numeric_limits::max(); + for (const auto & lanelet_id : lanelet_ids) { + const double distance = distanceToRightLaneBound(map_pose, bounding_box, lanelet_id); + if (distance < min_distance) { + min_distance = distance; + } + } + return min_distance; } auto distanceToLaneBound( @@ -272,8 +276,8 @@ auto distanceToLaneBound( const std::shared_ptr & hdmap_utils_ptr) -> double { return std::min( - distanceToLeftLaneBound(map_pose, bounding_box, lanelet_id, hdmap_utils_ptr), - distanceToRightLaneBound(map_pose, bounding_box, lanelet_id, hdmap_utils_ptr)); + distanceToLeftLaneBound(map_pose, bounding_box, lanelet_id), + distanceToRightLaneBound(map_pose, bounding_box, lanelet_id)); } auto distanceToLaneBound( @@ -282,8 +286,8 @@ auto distanceToLaneBound( const std::shared_ptr & hdmap_utils_ptr) -> double { return std::min( - distanceToLeftLaneBound(map_pose, bounding_box, lanelet_ids, hdmap_utils_ptr), - distanceToRightLaneBound(map_pose, bounding_box, lanelet_ids, hdmap_utils_ptr)); + distanceToLeftLaneBound(map_pose, bounding_box, lanelet_ids), + distanceToRightLaneBound(map_pose, bounding_box, lanelet_ids)); } auto distanceToCrosswalk( diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp index 6eaa2e00170..d2cc01834b7 100644 --- a/simulation/traffic_simulator/test/src/utils/test_distance.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -593,57 +593,57 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_single) { const auto pose = makePose(3818.33, 73726.18, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 0.5, tolerance); } { const auto pose = makePose(3816.89, 73723.09, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 2.6, tolerance); } { const auto pose = makePose(3813.42, 73721.11, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 2.7, tolerance); } { const auto pose = makePose(3813.42, 73721.11, 0.0, 120.0); const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 1.3, tolerance); } { const auto pose = makePose(3810.99, 73721.40, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 1.0, 0.0); - const double result = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 1.4, tolerance); } { const auto pose = makePose(3810.99, 73721.40, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, -1.0); - const double result = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 2.4, tolerance); } { const auto pose = makePose(3680.81, 73757.27, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, 34684L, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, 34684L); EXPECT_NEAR(result, 5.1, tolerance); } { const auto pose = makePose(3692.79, 73753.00, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, 34684L, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, 34684L); EXPECT_NEAR(result, 7.2, tolerance); } } @@ -661,11 +661,10 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_multipleVector) lanelet_ids.cbegin(), lanelet_ids.cend(), std::numeric_limits::max(), [](const double lhs, const double rhs) { return std::min(lhs, rhs); }, [&pose, &bounding_box, this](const lanelet::Id lanelet_id) { - return traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + return traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, lanelet_id); }); - const double result_distance = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, lanelet_ids, hdmap_utils_ptr); + const double result_distance = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, lanelet_ids); EXPECT_NEAR(actual_distance, result_distance, std::numeric_limits::epsilon()); EXPECT_NEAR(result_distance, 1.4, 0.1); } @@ -679,10 +678,10 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_singleVector) constexpr lanelet::Id lanelet_id = 34426L; const auto pose = makePose(3693.34, 73738.37, 0.0, 300.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); - const double actual_distance = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); - const double result_distance = traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, {lanelet_id}, hdmap_utils_ptr); + const double actual_distance = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, lanelet_id); + const double result_distance = + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, {lanelet_id}); EXPECT_NEAR(actual_distance, result_distance, std::numeric_limits::epsilon()); EXPECT_NEAR(result_distance, 1.8, 0.1); } @@ -695,8 +694,7 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_emptyVector) const auto pose = makePose(3825.87, 73773.08, 0.0, 135.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); EXPECT_THROW( - traffic_simulator::distance::distanceToLeftLaneBound( - pose, bounding_box, lanelet::Ids{}, hdmap_utils_ptr), + traffic_simulator::distance::distanceToLeftLaneBound(pose, bounding_box, lanelet::Ids{}), common::SemanticError); } @@ -710,57 +708,57 @@ TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_single) { const auto pose = makePose(86651.84, 44941.47, 0.0, 135.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 4.1, tolerance); } { const auto pose = makePose(86653.05, 44946.74, 0.0, 135.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 0.6, tolerance); } { const auto pose = makePose(86651.47, 44941.07, 0.0, 120.0); const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 4.3, tolerance); } { const auto pose = makePose(86651.47, 44941.07, 0.0, 210.0); const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 3.1, tolerance); } { const auto pose = makePose(86644.10, 44951.86, 0.0, 150.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 1.0, 0.0); - const double result = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 2.0, tolerance); } { const auto pose = makePose(86644.10, 44951.86, 0.0, 150.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, -1.0); - const double result = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 1.1, tolerance); } { const auto pose = makePose(86644.11, 44941.21, 0.0, 0.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 11.2, tolerance); } { const auto pose = makePose(86656.83, 44946.96, 0.0, 0.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); - const double result = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_id); EXPECT_NEAR(result, 2.6, tolerance); } } @@ -778,11 +776,10 @@ TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_multipleVector) lanelet_ids.cbegin(), lanelet_ids.cend(), std::numeric_limits::max(), [](const double lhs, const double rhs) { return std::min(lhs, rhs); }, [&pose, &bounding_box, this](const lanelet::Id lanelet_id) { - return traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); + return traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_id); }); - const double result_distance = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_ids, hdmap_utils_ptr); + const double result_distance = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_ids); EXPECT_NEAR(actual_distance, result_distance, std::numeric_limits::epsilon()); EXPECT_NEAR(result_distance, 2.7, 0.1); } @@ -796,10 +793,10 @@ TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_singleVector) constexpr lanelet::Id lanelet_id = 654L; const auto pose = makePose(86702.79, 44929.05, 0.0, 150.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); - const double actual_distance = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet_id, hdmap_utils_ptr); - const double result_distance = traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, {lanelet_id}, hdmap_utils_ptr); + const double actual_distance = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet_id); + const double result_distance = + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, {lanelet_id}); EXPECT_NEAR(actual_distance, result_distance, std::numeric_limits::epsilon()); EXPECT_NEAR(result_distance, 2.4, 0.1); } @@ -812,7 +809,6 @@ TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_emptyVector) const auto pose = makePose(3825.87, 73773.08, 0.0, 135.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); EXPECT_THROW( - traffic_simulator::distance::distanceToRightLaneBound( - pose, bounding_box, lanelet::Ids{}, hdmap_utils_ptr), + traffic_simulator::distance::distanceToRightLaneBound(pose, bounding_box, lanelet::Ids{}), common::SemanticError); } From d65168abf1c5cb837f92de7c50340cf47279958b Mon Sep 17 00:00:00 2001 From: abco20 Date: Thu, 20 Feb 2025 15:19:16 +0900 Subject: [PATCH 52/77] remove hdmap_utils from `distanceToLaneBound` --- .../src/measurement/get_distance_to_lane_bound.cpp | 3 +-- .../include/traffic_simulator/utils/distance.hpp | 8 ++++---- simulation/traffic_simulator/src/utils/distance.cpp | 8 ++++---- 3 files changed, 9 insertions(+), 10 deletions(-) diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp index d9404e163d8..04f25cacb68 100644 --- a/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp +++ b/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp @@ -46,8 +46,7 @@ class GetDistanceToLaneBoundScenario : public cpp_mock_scenarios::CppScenarioNod } auto & ego_entity = api_.getEntity("ego"); const auto distance = traffic_simulator::distance::distanceToLaneBound( - ego_entity.getMapPose(), ego_entity.getBoundingBox(), ego_entity.getRouteLanelets(), - api_.getHdmapUtils()); + ego_entity.getMapPose(), ego_entity.getBoundingBox(), ego_entity.getRouteLanelets()); // LCOV_EXCL_START if (distance <= 0.4 && distance >= 0.52) { stop(cpp_mock_scenarios::Result::FAILURE); diff --git a/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp b/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp index ab0f2b01085..e5480b04f61 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp @@ -74,13 +74,13 @@ auto boundingBoxLaneLongitudinalDistance( // Bounds auto distanceToLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id, - const std::shared_ptr & hdmap_utils_ptr) -> double; + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Id lanelet_id) + -> double; auto distanceToLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids, - const std::shared_ptr & hdmap_utils_ptr) -> double; + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids) + -> double; auto distanceToLeftLaneBound( const geometry_msgs::msg::Pose & map_pose, diff --git a/simulation/traffic_simulator/src/utils/distance.cpp b/simulation/traffic_simulator/src/utils/distance.cpp index f1053f4c1e1..83cbabbdb84 100644 --- a/simulation/traffic_simulator/src/utils/distance.cpp +++ b/simulation/traffic_simulator/src/utils/distance.cpp @@ -272,8 +272,8 @@ auto distanceToRightLaneBound( auto distanceToLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, lanelet::Id lanelet_id, - const std::shared_ptr & hdmap_utils_ptr) -> double + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Id lanelet_id) + -> double { return std::min( distanceToLeftLaneBound(map_pose, bounding_box, lanelet_id), @@ -282,8 +282,8 @@ auto distanceToLaneBound( auto distanceToLaneBound( const geometry_msgs::msg::Pose & map_pose, - const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids, - const std::shared_ptr & hdmap_utils_ptr) -> double + const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids) + -> double { return std::min( distanceToLeftLaneBound(map_pose, bounding_box, lanelet_ids), From cefe388faa1499e510b2e43a39d5e30a63a32de7 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 15:36:49 +0900 Subject: [PATCH 53/77] refactor: continuous simplifying workflow.sh --- .github/workflows/BuildAndRun.yaml | 2 +- .github/workflows/generate_workflow_report.sh | 12 ++++++++---- .github/workflows/workflow.sh | 4 +--- 3 files changed, 10 insertions(+), 8 deletions(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index 42af8a3404a..cbefe1d58e1 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -127,7 +127,7 @@ jobs: source install/local_setup.bash # execute scenarios but ignore the return code ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true - ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh + ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh /tmp/scenario_workflow/optional_workflow echo failure=$(grep -c "> $GITHUB_OUTPUT shell: bash diff --git a/.github/workflows/generate_workflow_report.sh b/.github/workflows/generate_workflow_report.sh index d431579a395..260c565dde3 100755 --- a/.github/workflows/generate_workflow_report.sh +++ b/.github/workflows/generate_workflow_report.sh @@ -1,15 +1,19 @@ #!/bin/sh -failure_report="/tmp/scenario_workflow/failure_report.md" +if [ $# -ne 1 ]; then + echo "Usage: $0 " + exit 1 +fi +workflow_directory="$1" +failure_report="$workflow_directory/failure_report.md" rm -f "$failure_report" -touch "$failure_report" -find /tmp/scenario_workflow -name "result.junit.xml" | while read file; do +find $workflow_directory -name "result.junit.xml" | while read file; do [ -e "$file" ] || continue if grep -q 'scenario failed: $(dirname "${file#/tmp/scenario_workflow/}" | cut -d'/' -f1)
\n\n\`\`\`xml" + echo "
scenario failed: $(dirname "${file#"$workflow_directory"/}" | cut -d'/' -f1)
\n\n\`\`\`xml" grep '
\n" } >> "$failure_report" diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index 1eef7e2938a..2530df6d381 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -12,12 +12,10 @@ then fi exit_status=0 -rm -rf "/tmp/scenario_workflow/" -mkdir -p "/tmp/scenario_workflow/" while IFS= read -r line do - ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:="/tmp/scenario_workflow/$(basename "$line" | sed 's/\.[^.]*$//')" "$@" + ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')/$(basename "$line" | sed 's/\.[^.]*$//')" "$@" ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml command_exit_status=$? if [ $command_exit_status -ne 0 ]; then From aff3cb43e30cfd111cbd18311cab5e1e272c9db5 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 17:25:19 +0900 Subject: [PATCH 54/77] fix: use correct file path --- .github/workflows/workflow.sh | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh index 2530df6d381..2479ae746b6 100755 --- a/.github/workflows/workflow.sh +++ b/.github/workflows/workflow.sh @@ -15,8 +15,9 @@ exit_status=0 while IFS= read -r line do - ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')/$(basename "$line" | sed 's/\.[^.]*$//')" "$@" - ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml + output_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')/$(basename "$line" | sed 's/\.[^.]*$//')" + ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:=$output_directory "$@" + ros2 run scenario_test_runner result_checker.py $output_directory/scenario_test_runner/result.junit.xml command_exit_status=$? if [ $command_exit_status -ne 0 ]; then echo "Error: caught non-zero exit status（code: $command_exit_status)" From b87875a8ce507d762fb9440a6e523b77a868d179 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 19:05:44 +0900 Subject: [PATCH 55/77] fix: optional-scenario-test step in BuildAndRun.yaml --- .github/workflows/BuildAndRun.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml index cbefe1d58e1..b4cef11430e 100644 --- a/.github/workflows/BuildAndRun.yaml +++ b/.github/workflows/BuildAndRun.yaml @@ -128,7 +128,7 @@ jobs: # execute scenarios but ignore the return code ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh /tmp/scenario_workflow/optional_workflow - echo failure=$(grep -c "> $GITHUB_OUTPUT + echo failure=$(grep -c "> $GITHUB_OUTPUT shell: bash - uses: actions/github-script@v7 From d86c9c008621aa0ef75c4315b7a60bcf49edeccf Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 20 Feb 2025 16:40:15 +0000 Subject: [PATCH 56/77] Revert "Revert "Revert "chore: modify scenario threshold for test""" This reverts commit 7d343c55b229f3c1eb4aabb28340b4dfd7f9ff98. --- .../scenario_test_runner/scenario/execution_time_test.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml index 2e060567594..4b6917f3459 100644 --- a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml +++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml @@ -158,7 +158,7 @@ OpenSCENARIO: UserDefinedValueCondition: name: /simulation/interpreter/execution_time/update rule: greaterThan - value: 0.000 + value: 0.005 - name: 'avoid startup' delay: 0 conditionEdge: none From 19dadbf5dd2ba28a0e16a772a0c90259af0ec8b4 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Fri, 21 Feb 2025 03:07:27 +0000 Subject: [PATCH 57/77] Bump version of scenario_simulator_v2 from version 11.0.0 to version 11.1.0 --- common/math/arithmetic/CHANGELOG.rst | 17 ++++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 17 ++++++++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 17 ++++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 17 ++++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 17 ++++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 17 ++++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 17 ++++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 17 ++++++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 17 ++++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 32 +++++++++++++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 17 ++++++++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 17 ++++++++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 17 ++++++++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 17 ++++++++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 17 ++++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 17 ++++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 17 ++++++++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 17 ++++++++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 17 ++++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 17 ++++++++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 17 ++++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 17 ++++++++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 34 +++++++++++++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 554 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 645ead25fb7..66a800b53dd 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 819bf5482ad..a5505bfb4bc 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 11.0.0 + 11.1.0 arithmetic library for scenario_simulator_v2 Tatsuya Yamasaki Apache License 2.0 diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst index 13707a10ea2..48d549642a1 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index fab413ddcfe..b9cc871c134 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 11.0.0 + 11.1.0 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index a29e1796f3b..6db73106c6a 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 3ba4c0ddccd..e6f66152efe 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 11.0.0 + 11.1.0 Exception types for scenario simulator Tatsuya Yamasaki Apache License 2.0 diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst index df5ed0c3ade..c306dee64a3 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index f99fff7f1f1..aebcab8df56 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 11.0.0 + 11.1.0 Lightweight JUnit library for ROS 2 Masaya Kataoka Tatsuya Yamasaki diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst index d3a17de0b4c..6d0ab08e972 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 832e1fc0257..93c4336aa6f 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 11.0.0 + 11.1.0 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 1f528a38302..6054bee7c13 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/external/concealer/package.xml b/external/concealer/package.xml index e9220c61892..66f7711bd54 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 11.0.0 + 11.1.0 Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator. Tatsuya Yamasaki Apache License 2.0 diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst index 73afdb31596..b994299e9d7 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,23 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 6791d2e5593..7ffa48c0d06 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 11.0.0 + 11.1.0 vendor packages for intel raytracing kernel library masaya Apache 2.0 diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst index 10ad0bb0cdd..422f85cd136 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index bcd672b7b20..e3f18626968 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 11.0.0 + 11.1.0 map package for kashiwanoha Masaya Kataoka Apache License 2.0 diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst index 2c77f3b120a..f477d2ebecc 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,23 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 7be7066f28c..523fd72c1f5 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 11.0.0 + 11.1.0 map package for simple cross Masaya Kataoka Apache License 2.0 diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst index 95b0f2ab438..4b2ad340d52 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 4a047501e15..52ed4d32d94 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 11.0.0 + 11.1.0 C++ mock scenarios masaya Apache License 2.0 diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst index 48af3ee19c9..715689f49a5 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index a0fb249ac42..608cd8fed89 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 11.0.0 + 11.1.0 TIER IV experimental catalogs for OpenSCENARIO Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst index 685a766e6e9..fbd669a9e8e 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,38 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge pull request `#1517 `_ from tier4/feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* refactor: use minimum captures for lambda +* chore: use seconds as time unit in execution_time topics +* refactor: generate UserDefinedValue message for each publishers +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* fix: delete unavailable include +* refactor: delete unused code +* refactor: use ExecutionTimer instead of ScopedElapsedTimeRecorder +* refactor: rename TClock with Clock +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* refactor: simplify ScopedElapsedTimeRecorder class +* fix: correct initialization order +* Merge branch 'master' into feature/execution_time +* fix: add activate and deactivate process for time publisher in interpreter +* fix: correct time unit conversion +* feat: publish execution time from interpreter +* feat: record execution time with ScopedElapsedTimeRecorder class +* feat: implement ScopedElapsedTimeRecorder class +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 5e43b546497..a72d692b9ed 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 11.0.0 + 11.1.0 OpenSCENARIO 1.2.0 interpreter package for Autoware Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst index 6b1557780d9..e2987d220cd 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 61c93b42ba2..900f4f106b7 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 11.0.0 + 11.1.0 Examples for some TIER IV OpenSCENARIO Interpreter's features Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst index 66d86170288..6f4d055a563 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 89523cf4cdf..4d54e63e6c2 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 11.0.0 + 11.1.0 ROS message types for package openscenario_interpreter Yamasaki Tatsuya Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst index 8a441ba0ef7..d53be8f8f00 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 10bc61ac4b8..a2f9aa49d9b 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 11.0.0 + 11.1.0 Example package for TIER IV OpenSCENARIO Interpreter Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst index 22120d8dc8d..ca59cba9915 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 45547e73bd9..3a6ba63e8ee 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 11.0.0 + 11.1.0 ROS message types for package openscenario_preprocessor Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_utility/CHANGELOG.rst b/openscenario/openscenario_utility/CHANGELOG.rst index 05b6b7217d4..13950e4e331 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,23 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 1e631d3fcb3..a1d5bca52e9 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 11.0.0 + 11.1.0 Utility tools for ASAM OpenSCENARIO 1.2.0 Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_validator/CHANGELOG.rst b/openscenario/openscenario_validator/CHANGELOG.rst index 91bef2be35b..82732626ce8 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,23 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index edbca6817c7..88bcfcd8245 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 11.0.0 + 11.1.0 Validator for OpenSCENARIO 1.3 Kotaro Yoshimoto Apache License 2.0 diff --git a/rviz_plugins/openscenario_visualization/CHANGELOG.rst b/rviz_plugins/openscenario_visualization/CHANGELOG.rst index 6bb333751df..812297b6157 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 5d1cabae0f2..cbc768c3902 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 11.0.0 + 11.1.0 Visualization tools for simulation results Masaya Kataoka Kyoichi Sugahara diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst index bf423a6f684..a3b64d38188 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml index c28462b1fa2..ea86f0644fd 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml @@ -2,7 +2,7 @@ real_time_factor_control_rviz_plugin - 11.0.0 + 11.1.0 Slider controlling real time factor value. Paweł Lech Apache License 2.0 diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst index fe9982abd22..604b31cf9e6 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index c2c38365c38..aebadabbe9f 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 11.0.0 + 11.1.0 scenario testing framework for Autoware Masaya Kataoka Apache License 2.0 diff --git a/simulation/behavior_tree_plugin/CHANGELOG.rst b/simulation/behavior_tree_plugin/CHANGELOG.rst index ec85f54e9a7..5e174a55f35 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge pull request `#1531 `_ from tier4/refactor/lanelet_wrapper_route diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 1ad5da85cd2..0de07c13c91 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 11.0.0 + 11.1.0 Behavior tree plugin for traffic_simulator masaya Apache 2.0 diff --git a/simulation/do_nothing_plugin/CHANGELOG.rst b/simulation/do_nothing_plugin/CHANGELOG.rst index e047a82cada..8976821ea10 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index b4e3d00ec3c..4c1e5ccd01c 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 11.0.0 + 11.1.0 Behavior plugin for do nothing Masaya Kataoka Apache 2.0 diff --git a/simulation/simple_sensor_simulator/CHANGELOG.rst b/simulation/simple_sensor_simulator/CHANGELOG.rst index 8ad3f44fd9c..5cd2d94b8ee 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index f10a0cb0a42..04b3efdbcee 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 11.0.0 + 11.1.0 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 49040ca46a2..14d31d52b07 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 5075a3821e8..9ed8ca601da 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 11.0.0 + 11.1.0 packages to define interface between simulator and scenario interpreter Masaya Kataoka Apache License 2.0 diff --git a/simulation/traffic_simulator/CHANGELOG.rst b/simulation/traffic_simulator/CHANGELOG.rst index ef445a47244..a17d0d86007 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge pull request `#1531 `_ from tier4/refactor/lanelet_wrapper_route diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 1f393017b12..e82a2c4372b 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 11.0.0 + 11.1.0 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 23fdc04e60b..a2a560e8351 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index ae4e5c1feaa..1bd5fd95d8c 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 11.0.0 + 11.1.0 ROS messages for openscenario Masaya Kataoka Apache License 2.0 diff --git a/test_runner/random_test_runner/CHANGELOG.rst b/test_runner/random_test_runner/CHANGELOG.rst index c65cdfe45a9..ffe6a004091 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge branch 'master' into feature/execution_time +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 3cd961cd8fe..745ff53f53b 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 11.0.0 + 11.1.0 Random behavior test runner piotr-zyskowski-rai Apache License 2.0 diff --git a/test_runner/scenario_test_runner/CHANGELOG.rst b/test_runner/scenario_test_runner/CHANGELOG.rst index 4c18dbfe07f..504a85bf34b 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,40 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +11.1.0 (2025-02-21) +------------------- +* Merge pull request `#1517 `_ from tier4/feature/execution_time +* Revert "Revert "Revert "chore: modify scenario threshold for test""" + This reverts commit 7d343c55b229f3c1eb4aabb28340b4dfd7f9ff98. +* Merge branch 'master' into feature/execution_time +* Revert "Revert "chore: modify scenario threshold for test"" + This reverts commit 603273f93910854a0fdd228dfef0aee537fb6398. +* Revert "chore: modify scenario threshold for test" + This reverts commit 30e525ccdce49cc2f13d21f9fa9b9b15f58ccbbb. +* Merge remote-tracking branch 'origin/master' into feature/execution_time +* chore: modify scenario threshold for test +* Merge branch 'master' into feature/execution_time +* chore: use seconds as time unit in execution_time topics +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Revert "chore: change scenario condition for test" + This reverts commit 868aae6e9077d8f9c2e58d3431d01e300b1f1c70. +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* chore: change scenario condition for test +* chore: move execution_time_test.yaml into optional_workflow.txt +* Merge branch 'master' into feature/execution_time +* Merge branch 'master' into feature/execution_time +* feat: add execution_time_test.yaml into test scenario line-up +* Merge branch 'master' into feature/execution_time +* chore: update threshold for update time in execution_time_test.yaml +* refactor: use anchor and aliases in execution_time_test.yaml +* feat: add execution_time_test.yaml +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 11.0.0 (2025-02-20) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_route diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index a88820be66d..4d48aee522e 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 11.0.0 + 11.1.0 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From b8ae6ca87b3bed84c4a66c695308962950863cdc Mon Sep 17 00:00:00 2001 From: xtk8532704 <1041084556@qq.com> Date: Fri, 21 Feb 2025 14:40:55 +0900 Subject: [PATCH 58/77] updated config, currected the modeling of bernoulli distribution noises to Markov process. rename rho to phi update description. --- .../detection_sensor/detection_sensor.hpp | 2 +- .../detection_sensor/detection_sensor.cpp | 61 +++++++++++-------- .../config/parameters.yaml | 41 +++++++------ 3 files changed, 61 insertions(+), 43 deletions(-) diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp index 3379f146e9e..b731e1b2928 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp @@ -85,7 +85,7 @@ class DetectionSensor : public DetectionSensorBase { double simulation_time, distance_noise, yaw_noise; - bool mask, flip; + bool tp, flip; explicit NoiseOutput(double simulation_time = 0.0) : simulation_time(simulation_time) {} }; diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 1309b8101bf..5e5152e8860 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -358,12 +358,20 @@ auto DetectionSensor::update( }; /* - We use AR(1) model to model noises' autocorrelation coefficients for - all kinds of noises. We define the `tau` used for AR(1) from - `delta_t`, which means the time interval when the autocorrelation - coefficient becomes `correlation_for_delta_t`. + We use AR(1) model to model the autocorrelation coefficients `phi` for + noises(distance_noise, yaw_noise) with Gaussian distribution, by the + following formula: + noise(prev_noise) = mean + phi * (prev_noise - mean) + N(0, 1 - phi^2) * standard_deviation + + We use Markov process to model the autocorrelation coefficients `rho` + for noises(flip, tp) with Bernoulli distribution, by the transition matrix: + | p_00 p_01 | == | p0 + rho * p1 p1(1 - rho) | + | p_10 p_11 | == | p0(1 - rho) p1 - rho * p0 | + + In the code, we use `phi` for the above autocorrelation coefficients `phi` or `rho`, + Which is calculated from the time_interval `dt` by the following formula: + phi(dt) = amplitude * exp(-decay * dt) + offset */ - static const auto correlation_for_delta_t = parameter("correlation_for_delta_t"); auto ar1_noise = [this](auto previous_noise, auto mean, auto standard_deviation, auto phi) { return mean + phi * (previous_noise - mean) + @@ -371,6 +379,18 @@ auto DetectionSensor::update( 0, standard_deviation * std::sqrt(1 - phi * phi))(random_engine_); }; + auto mp_noise = [this](bool is_previous_noise_1, auto p1, auto phi) { + auto rate = (is_previous_noise_1 ? 1.0 : 0.0) * phi + (1 - phi) * p1; + return std::uniform_real_distribution()(random_engine_) < rate; + }; + + auto get_phi = [&](const auto & interval, const std::string & name) { + static const auto amplitude = parameter(name + ".phi_amplitude"); + static const auto decay = parameter(name + ".phi_decay"); + static const auto offset = parameter(name + ".phi_offset"); + return std::clamp(amplitude * std::exp(-interval * decay) + offset, 0.0, 1.0); + }; + auto selector = [&](auto ellipse_normalized_x_radius, const auto & targets) { static const auto ellipse_y_radii = parameters("ellipse_y_radii"); return [&, ellipse_normalized_x_radius, targets]() { @@ -393,50 +413,41 @@ auto DetectionSensor::update( }; noise_output->second.distance_noise = [&]() { - static const auto tau = - -parameter("distance.delta_t") / std::log(correlation_for_delta_t); static const auto mean = selector( parameter("distance.ellipse_normalized_x_radius.mean"), parameters("distance.means")); static const auto standard_deviation = selector( parameter("distance.ellipse_normalized_x_radius.standard_deviation"), parameters("distance.standard_deviations")); - const auto phi = std::exp(-interval / tau); + const auto phi = get_phi(interval, "distance"); return ar1_noise(noise_output->second.distance_noise, mean(), standard_deviation(), phi); }(); noise_output->second.yaw_noise = [&]() { - static const auto tau = -parameter("yaw.delta_t") / std::log(correlation_for_delta_t); static const auto mean = selector(parameter("yaw.ellipse_normalized_x_radius.mean"), parameters("yaw.means")); static const auto standard_deviation = selector( parameter("yaw.ellipse_normalized_x_radius.standard_deviation"), parameters("yaw.standard_deviations")); - const auto phi = std::exp(-interval / tau); + const auto phi = get_phi(interval, "yaw"); return ar1_noise(noise_output->second.yaw_noise, mean(), standard_deviation(), phi); }(); noise_output->second.flip = [&]() { - static const auto tau = - -parameter("yaw_flip.delta_t") / std::log(correlation_for_delta_t); static const auto velocity_threshold = parameter("yaw_flip.velocity_threshold"); - static const auto stop_rate = parameter("yaw_flip.stop_rate"); - const auto phi = std::exp(-interval / tau); - const auto rate = (noise_output->second.flip ? 1.0 : 0.0) * phi + (1 - phi) * stop_rate; + static const auto flip_rate = parameter("yaw_flip.flip_rate"); + const auto phi = get_phi(interval, "yaw_flip"); return velocity < velocity_threshold and - std::uniform_real_distribution()(random_engine_) < rate; + mp_noise(noise_output->second.flip, flip_rate, phi); }(); - noise_output->second.mask = [&]() { - static const auto tau = -parameter("mask.delta_t") / std::log(correlation_for_delta_t); - static const auto unmask_rate = selector( - parameter("mask.ellipse_normalized_x_radius"), parameters("mask.unmask_rates")); - const auto phi = std::exp(-interval / tau); - const auto rate = - (noise_output->second.mask ? 1.0 : 0.0) * phi + (1 - phi) * (1 - unmask_rate()); - return std::uniform_real_distribution()(random_engine_) < rate; + noise_output->second.tp = [&]() { + static const auto tp_rate = selector( + parameter("tp.ellipse_normalized_x_radius"), parameters("tp.tp_rates")); + const auto phi = get_phi(interval, "tp"); + return mp_noise(noise_output->second.tp, tp_rate(), phi); }(); - if (noise_output->second.mask) { + if (noise_output->second.tp) { const auto angle = std::atan2(y, x); const auto yaw_rotated_orientation = diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 52504889231..850ddd7075a 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -134,27 +134,34 @@ simulation: model: version: 2 # Any of [1, 2]. v2: - correlation_for_delta_t: 0.5 ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] distance: - delta_t: 0.5 + phi_amplitude: 0.32 + phi_decay: 0.45 + phi_offset: 0.26 ellipse_normalized_x_radius: - mean: 1.8 - standard_deviation: 1.8 - means: [0.25, 0.27, 0.44, 0.67, 1.00, 3.00, 4.09, 3.40, 0.00] - standard_deviations: [0.35, 0.54, 0.83, 1.14, 1.60, 3.56, 4.31, 3.61, 0.00] + mean: 1.1 + standard_deviation: 1.0 + means: [-0.06, -0.04, -0.04, -0.07, -0.26, -0.56, -1.02, -1.05, 0.0] + standard_deviations: [0.17, 0.20, 0.27, 0.40, 0.67, 0.94, 1.19, 1.17, 0.0] yaw: - delta_t: 0.3 + phi_amplitude: 0.22 + phi_decay: 0.52 + phi_offset: 0.21 ellipse_normalized_x_radius: - mean: 0.6 - standard_deviation: 1.6 - means: [0.01, 0.01, 0.00, 0.03, 0.04, 0.00, 0.01, 0.00, 0.00] - standard_deviations: [0.05, 0.1, 0.15, 0.15, 0.2, 0.2, 0.3, 0.4, 0.5] + mean: 1.9 + standard_deviation: 0.8 + means: [0.0, 0.01, 0.0, 0.0, 0.0, -0.07, 0.18, 0.06, 0.0] + standard_deviations: [0.09, 0.15, 0.21, 0.18, 0.17, 0.19, 0.39, 0.15, 0.0] yaw_flip: - delta_t: 0.1 + phi_amplitude: 0.29 + phi_decay: 0.12 + phi_offset: 0.49 velocity_threshold: 0.1 - stop_rate: 0.3 - mask: - delta_t: 0.3 - ellipse_normalized_x_radius: 0.6 - unmask_rates: [0.92, 0.77, 0.74, 0.66, 0.57, 0.28, 0.09, 0.03, 0.00] + flip_rate: 0.12 + tp: + phi_amplitude: 0.32 + phi_decay: 0.26 + phi_offset: 0.40 + ellipse_normalized_x_radius: 0.7 + tp_rates: [0.96, 0.78, 0.57, 0.48, 0.27, 0.07, 0.01, 0.0, 0.0] From 5357ae76c42bb81fc104bed257ca7c7999bd7662 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 25 Feb 2025 13:54:13 +0900 Subject: [PATCH 59/77] Cleanup Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.cpp | 66 ++++++++++--------- .../config/parameters.yaml | 32 +++++---- 2 files changed, 52 insertions(+), 46 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 5e5152e8860..cafdd6d8f9a 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -319,6 +319,26 @@ auto DetectionSensor::update( return detected_entities; }; + /* + We use AR(1) model to model the autocorrelation coefficients `phi` for + noises(distance_noise, yaw_noise) with Gaussian distribution, by the + following formula: + + noise(prev_noise) = mean + phi * (prev_noise - mean) + N(0, 1 - phi^2) * standard_deviation + + We use Markov process to model the autocorrelation coefficients `rho` + for noises(flip, tp) with Bernoulli distribution, by the transition + matrix: + + | p_00 p_01 | == | p0 + rho * p1 p1 (1 - rho) | + | p_10 p_11 | == | p0 (1 - rho) p1 - rho * p0 | + + In the code, we use `phi` for the above autocorrelation coefficients + `phi` or `rho`, Which is calculated from the time_interval `dt` by the + following formula: + + phi(dt) = amplitude * exp(-decay * dt) + offset + */ auto noise_v2 = [&](const auto & detected_entities, auto simulation_time) { auto noised_detected_entities = std::decay_t(); @@ -357,22 +377,6 @@ auto DetectionSensor::update( } }; - /* - We use AR(1) model to model the autocorrelation coefficients `phi` for - noises(distance_noise, yaw_noise) with Gaussian distribution, by the - following formula: - noise(prev_noise) = mean + phi * (prev_noise - mean) + N(0, 1 - phi^2) * standard_deviation - - We use Markov process to model the autocorrelation coefficients `rho` - for noises(flip, tp) with Bernoulli distribution, by the transition matrix: - | p_00 p_01 | == | p0 + rho * p1 p1(1 - rho) | - | p_10 p_11 | == | p0(1 - rho) p1 - rho * p0 | - - In the code, we use `phi` for the above autocorrelation coefficients `phi` or `rho`, - Which is calculated from the time_interval `dt` by the following formula: - phi(dt) = amplitude * exp(-decay * dt) + offset - */ - auto ar1_noise = [this](auto previous_noise, auto mean, auto standard_deviation, auto phi) { return mean + phi * (previous_noise - mean) + std::normal_distribution( @@ -380,14 +384,14 @@ auto DetectionSensor::update( }; auto mp_noise = [this](bool is_previous_noise_1, auto p1, auto phi) { - auto rate = (is_previous_noise_1 ? 1.0 : 0.0) * phi + (1 - phi) * p1; + const auto rate = (is_previous_noise_1 ? 1.0 : 0.0) * phi + (1 - phi) * p1; return std::uniform_real_distribution()(random_engine_) < rate; }; - auto get_phi = [&](const auto & interval, const std::string & name) { - static const auto amplitude = parameter(name + ".phi_amplitude"); - static const auto decay = parameter(name + ".phi_decay"); - static const auto offset = parameter(name + ".phi_offset"); + auto phi = [&](const std::string & name) { + static const auto amplitude = parameter(name + ".phi.amplitude"); + static const auto decay = parameter(name + ".phi.decay"); + static const auto offset = parameter(name + ".phi.offset"); return std::clamp(amplitude * std::exp(-interval * decay) + offset, 0.0, 1.0); }; @@ -418,8 +422,8 @@ auto DetectionSensor::update( static const auto standard_deviation = selector( parameter("distance.ellipse_normalized_x_radius.standard_deviation"), parameters("distance.standard_deviations")); - const auto phi = get_phi(interval, "distance"); - return ar1_noise(noise_output->second.distance_noise, mean(), standard_deviation(), phi); + return ar1_noise( + noise_output->second.distance_noise, mean(), standard_deviation(), phi("distance")); }(); noise_output->second.yaw_noise = [&]() { @@ -428,23 +432,21 @@ auto DetectionSensor::update( static const auto standard_deviation = selector( parameter("yaw.ellipse_normalized_x_radius.standard_deviation"), parameters("yaw.standard_deviations")); - const auto phi = get_phi(interval, "yaw"); - return ar1_noise(noise_output->second.yaw_noise, mean(), standard_deviation(), phi); + return ar1_noise( + noise_output->second.yaw_noise, mean(), standard_deviation(), phi("yaw")); }(); noise_output->second.flip = [&]() { static const auto velocity_threshold = parameter("yaw_flip.velocity_threshold"); - static const auto flip_rate = parameter("yaw_flip.flip_rate"); - const auto phi = get_phi(interval, "yaw_flip"); + static const auto rate = parameter("yaw_flip.rate"); return velocity < velocity_threshold and - mp_noise(noise_output->second.flip, flip_rate, phi); + mp_noise(noise_output->second.flip, rate, phi("yaw_flip")); }(); noise_output->second.tp = [&]() { - static const auto tp_rate = selector( - parameter("tp.ellipse_normalized_x_radius"), parameters("tp.tp_rates")); - const auto phi = get_phi(interval, "tp"); - return mp_noise(noise_output->second.tp, tp_rate(), phi); + static const auto tp_rate = + selector(parameter("tp.ellipse_normalized_x_radius"), parameters("tp.rates")); + return mp_noise(noise_output->second.tp, tp_rate(), phi("tp")); }(); if (noise_output->second.tp) { diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 850ddd7075a..8855c82cb40 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -136,32 +136,36 @@ simulation: v2: ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] distance: - phi_amplitude: 0.32 - phi_decay: 0.45 - phi_offset: 0.26 + phi: + amplitude: 0.32 + decay: 0.45 + offset: 0.26 ellipse_normalized_x_radius: mean: 1.1 standard_deviation: 1.0 means: [-0.06, -0.04, -0.04, -0.07, -0.26, -0.56, -1.02, -1.05, 0.0] standard_deviations: [0.17, 0.20, 0.27, 0.40, 0.67, 0.94, 1.19, 1.17, 0.0] yaw: - phi_amplitude: 0.22 - phi_decay: 0.52 - phi_offset: 0.21 + phi: + amplitude: 0.22 + decay: 0.52 + offset: 0.21 ellipse_normalized_x_radius: mean: 1.9 standard_deviation: 0.8 means: [0.0, 0.01, 0.0, 0.0, 0.0, -0.07, 0.18, 0.06, 0.0] standard_deviations: [0.09, 0.15, 0.21, 0.18, 0.17, 0.19, 0.39, 0.15, 0.0] yaw_flip: - phi_amplitude: 0.29 - phi_decay: 0.12 - phi_offset: 0.49 + phi: + amplitude: 0.29 + decay: 0.12 + offset: 0.49 velocity_threshold: 0.1 - flip_rate: 0.12 + rate: 0.12 tp: - phi_amplitude: 0.32 - phi_decay: 0.26 - phi_offset: 0.40 + phi: + amplitude: 0.32 + decay: 0.26 + offset: 0.40 ellipse_normalized_x_radius: 0.7 - tp_rates: [0.96, 0.78, 0.57, 0.48, 0.27, 0.07, 0.01, 0.0, 0.0] + rates: [0.96, 0.78, 0.57, 0.48, 0.27, 0.07, 0.01, 0.0, 0.0] From 129ebd7a9c4b1d5b5216c415dbb1864962c81a99 Mon Sep 17 00:00:00 2001 From: Taiga Takano Date: Tue, 25 Feb 2025 15:02:14 +0900 Subject: [PATCH 60/77] Push latest tag along with versioned Docker images. --- .github/workflows/Docker.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/Docker.yaml b/.github/workflows/Docker.yaml index d5bc37819a3..8e2648cf0ea 100644 --- a/.github/workflows/Docker.yaml +++ b/.github/workflows/Docker.yaml @@ -69,7 +69,8 @@ jobs: *.cache-to=type=gha,mode=max *.cache-from=type=gha *.tags=ghcr.io/tier4/scenario_simulator_v2:traffic_simulator_${{ matrix.rosdistro }}-${{ github.event.inputs.version }} - push: true + *.tags=ghcr.io/tier4/scenario_simulator_v2:traffic_simulator_latest + push: true targets: | traffic_simulator_${{ matrix.rosdistro }} @@ -135,6 +136,7 @@ jobs: *.cache-to=type=gha,mode=max *.cache-from=type=gha *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.event.inputs.version }} + *.tags=ghcr.io/tier4/scenario_simulator_v2:latest push: true targets: | ${{ matrix.rosdistro }}_base_${{ matrix.arch }} From ccef368da441bbddb0e53c3845ab39dc512faf93 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 25 Feb 2025 15:46:25 +0900 Subject: [PATCH 61/77] Rename parameter `tp` to `true_positive` Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.hpp | 2 +- .../detection_sensor/detection_sensor.cpp | 30 +++++++++---------- .../config/parameters.yaml | 2 +- 3 files changed, 17 insertions(+), 17 deletions(-) diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp index b731e1b2928..fc4eeb7fb3c 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp @@ -85,7 +85,7 @@ class DetectionSensor : public DetectionSensorBase { double simulation_time, distance_noise, yaw_noise; - bool tp, flip; + bool true_positive, flip; explicit NoiseOutput(double simulation_time = 0.0) : simulation_time(simulation_time) {} }; diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index cafdd6d8f9a..edd946b3da4 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -293,8 +293,7 @@ auto DetectionSensor::update( NOTE: for Autoware developers If you need to apply experimental noise to the DetectedObjects that the - simulator publishes, comment out the following function and implement - new one. + simulator publishes, copy the following function and implement new one. */ auto noise_v1 = [&](auto detected_entities, [[maybe_unused]] auto simulation_time) { auto position_noise_distribution = @@ -321,21 +320,21 @@ auto DetectionSensor::update( /* We use AR(1) model to model the autocorrelation coefficients `phi` for - noises(distance_noise, yaw_noise) with Gaussian distribution, by the + `distance_noise` and `yaw_noise` with Gaussian distribution, by the following formula: noise(prev_noise) = mean + phi * (prev_noise - mean) + N(0, 1 - phi^2) * standard_deviation - We use Markov process to model the autocorrelation coefficients `rho` - for noises(flip, tp) with Bernoulli distribution, by the transition - matrix: + We use Markov process to model the autocorrelation coefficients `phi` + for `flip` and `true_positive` with Bernoulli distribution, by the + transition matrix: - | p_00 p_01 | == | p0 + rho * p1 p1 (1 - rho) | - | p_10 p_11 | == | p0 (1 - rho) p1 - rho * p0 | + | p_00 p_01 | == | p0 + phi * p1 p1 (1 - phi) | + | p_10 p_11 | == | p0 (1 - phi) p1 - phi * p0 | In the code, we use `phi` for the above autocorrelation coefficients - `phi` or `rho`, Which is calculated from the time_interval `dt` by the - following formula: + `phi`, which is calculated from the time_interval `dt` by the following + formula: phi(dt) = amplitude * exp(-decay * dt) + offset */ @@ -443,13 +442,14 @@ auto DetectionSensor::update( mp_noise(noise_output->second.flip, rate, phi("yaw_flip")); }(); - noise_output->second.tp = [&]() { - static const auto tp_rate = - selector(parameter("tp.ellipse_normalized_x_radius"), parameters("tp.rates")); - return mp_noise(noise_output->second.tp, tp_rate(), phi("tp")); + noise_output->second.true_positive = [&]() { + static const auto rate = selector( + parameter("true_positive.ellipse_normalized_x_radius"), + parameters("true_positive.rates")); + return mp_noise(noise_output->second.true_positive, rate(), phi("true_positive")); }(); - if (noise_output->second.tp) { + if (noise_output->second.true_positive) { const auto angle = std::atan2(y, x); const auto yaw_rotated_orientation = diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 8855c82cb40..cd2804d0110 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -162,7 +162,7 @@ simulation: offset: 0.49 velocity_threshold: 0.1 rate: 0.12 - tp: + true_positive: phi: amplitude: 0.32 decay: 0.26 From 88351bf433bc5bc455da6c194cdd265ec58ddcd1 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Tue, 25 Feb 2025 07:03:02 +0000 Subject: [PATCH 62/77] Bump version of scenario_simulator_v2 from version 11.1.0 to version 12.0.0 --- common/math/arithmetic/CHANGELOG.rst | 6 ++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 6 ++++++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 6 ++++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 6 ++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 6 ++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 6 ++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 6 ++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 6 ++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 6 ++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 9 +++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 6 ++++++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 6 ++++++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 6 ++++++ .../openscenario_interpreter_example/package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 6 ++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 6 ++++++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 6 ++++++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 6 ++++++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 6 ++++++ openscenario/openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 6 ++++++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 6 ++++++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 6 ++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 6 ++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 6 ++++++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 6 ++++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 6 ++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 12 ++++++++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 6 ++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 6 ++++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 6 ++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 212 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 66a800b53dd..22ae33b752a 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index a5505bfb4bc..5f7a13ddeeb 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 11.1.0 + 12.0.0 arithmetic library for scenario_simulator_v2 Tatsuya Yamasaki Apache License 2.0 diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst index 48d549642a1..0cb7987199c 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index b9cc871c134..ae394ccee7f 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 11.1.0 + 12.0.0 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 6db73106c6a..889c3b923d7 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index e6f66152efe..f8391489070 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 11.1.0 + 12.0.0 Exception types for scenario simulator Tatsuya Yamasaki Apache License 2.0 diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst index c306dee64a3..eb9abfa05cd 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index aebcab8df56..8f85282e6bd 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 11.1.0 + 12.0.0 Lightweight JUnit library for ROS 2 Masaya Kataoka Tatsuya Yamasaki diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst index 6d0ab08e972..d30dbb6dbb8 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 93c4336aa6f..b4c821a3595 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 11.1.0 + 12.0.0 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 6054bee7c13..8aec142f89e 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 66f7711bd54..9fe4edc8ae6 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 11.1.0 + 12.0.0 Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator. Tatsuya Yamasaki Apache License 2.0 diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst index b994299e9d7..4564a4e8d6a 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,12 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 7ffa48c0d06..701cbe993a5 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 11.1.0 + 12.0.0 vendor packages for intel raytracing kernel library masaya Apache 2.0 diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst index 422f85cd136..411b701e8db 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index e3f18626968..d594fa46de2 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 11.1.0 + 12.0.0 map package for kashiwanoha Masaya Kataoka Apache License 2.0 diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst index f477d2ebecc..dcfa4ba2c95 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,12 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 523fd72c1f5..657fdc59972 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 11.1.0 + 12.0.0 map package for simple cross Masaya Kataoka Apache License 2.0 diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst index 4b2ad340d52..6ad799d51bc 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge pull request `#1533 `_ from tier4/refactor/lanelet_wrapper_bound + HdMapUtils refactor lanelet_wrapper::lanelet_map::leftBound rightBound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* remove hdmap_utils from `distanceToLaneBound` +* Contributors: Masaya Kataoka, Tatsuya Yamasaki, abco20 + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 52ed4d32d94..40e018f89b0 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 11.1.0 + 12.0.0 C++ mock scenarios masaya Apache License 2.0 diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst index 715689f49a5..e3d6536209c 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 608cd8fed89..f73d9523e07 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 11.1.0 + 12.0.0 TIER IV experimental catalogs for OpenSCENARIO Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst index fbd669a9e8e..a10421e8936 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,12 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge pull request `#1517 `_ from tier4/feature/execution_time diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index a72d692b9ed..52539d27571 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 11.1.0 + 12.0.0 OpenSCENARIO 1.2.0 interpreter package for Autoware Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst index e2987d220cd..53ba66b98ea 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 900f4f106b7..fe3a650fae2 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 11.1.0 + 12.0.0 Examples for some TIER IV OpenSCENARIO Interpreter's features Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst index 6f4d055a563..741e0983481 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 4d54e63e6c2..b76c9cb38eb 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 11.1.0 + 12.0.0 ROS message types for package openscenario_interpreter Yamasaki Tatsuya Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst index d53be8f8f00..597662ceebd 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index a2f9aa49d9b..8bdfc28815a 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 11.1.0 + 12.0.0 Example package for TIER IV OpenSCENARIO Interpreter Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst index ca59cba9915..1b64019ff79 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 3a6ba63e8ee..4b36d727047 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 11.1.0 + 12.0.0 ROS message types for package openscenario_preprocessor Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_utility/CHANGELOG.rst b/openscenario/openscenario_utility/CHANGELOG.rst index 13950e4e331..d1650b602bb 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,12 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index a1d5bca52e9..bc66b95f8e1 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 11.1.0 + 12.0.0 Utility tools for ASAM OpenSCENARIO 1.2.0 Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_validator/CHANGELOG.rst b/openscenario/openscenario_validator/CHANGELOG.rst index 82732626ce8..10c445ac986 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,12 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 88bcfcd8245..58bae0f1745 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 11.1.0 + 12.0.0 Validator for OpenSCENARIO 1.3 Kotaro Yoshimoto Apache License 2.0 diff --git a/rviz_plugins/openscenario_visualization/CHANGELOG.rst b/rviz_plugins/openscenario_visualization/CHANGELOG.rst index 812297b6157..f144682d8c0 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index cbc768c3902..3cca1c5f753 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 11.1.0 + 12.0.0 Visualization tools for simulation results Masaya Kataoka Kyoichi Sugahara diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst index a3b64d38188..9057a9d181f 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml index ea86f0644fd..e9b04dc0611 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml @@ -2,7 +2,7 @@ real_time_factor_control_rviz_plugin - 11.1.0 + 12.0.0 Slider controlling real time factor value. Paweł Lech Apache License 2.0 diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst index 604b31cf9e6..838d4f40d21 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index aebadabbe9f..db5dc448f77 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 11.1.0 + 12.0.0 scenario testing framework for Autoware Masaya Kataoka Apache License 2.0 diff --git a/simulation/behavior_tree_plugin/CHANGELOG.rst b/simulation/behavior_tree_plugin/CHANGELOG.rst index 5e174a55f35..645c002f5d2 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 0de07c13c91..537f40ddc6f 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 11.1.0 + 12.0.0 Behavior tree plugin for traffic_simulator masaya Apache 2.0 diff --git a/simulation/do_nothing_plugin/CHANGELOG.rst b/simulation/do_nothing_plugin/CHANGELOG.rst index 8976821ea10..55baff71645 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 4c1e5ccd01c..150a9af06d4 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 11.1.0 + 12.0.0 Behavior plugin for do nothing Masaya Kataoka Apache 2.0 diff --git a/simulation/simple_sensor_simulator/CHANGELOG.rst b/simulation/simple_sensor_simulator/CHANGELOG.rst index 5cd2d94b8ee..e619d50eff2 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 04b3efdbcee..f60b99bdfc7 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 11.1.0 + 12.0.0 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 14d31d52b07..f9efe83583a 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 9ed8ca601da..98785035058 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 11.1.0 + 12.0.0 packages to define interface between simulator and scenario interpreter Masaya Kataoka Apache License 2.0 diff --git a/simulation/traffic_simulator/CHANGELOG.rst b/simulation/traffic_simulator/CHANGELOG.rst index a17d0d86007..fb3b8d12e5f 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge pull request `#1533 `_ from tier4/refactor/lanelet_wrapper_bound + HdMapUtils refactor lanelet_wrapper::lanelet_map::leftBound rightBound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* remove hdmap_utils from `distanceToLaneBound` +* remove hdmap_utils from `distanceToLeftLaneBound` and `distanceToRightLaneBound` +* move `getLeftBound` and `getRightBound` methods +* Add toPolygon function +* Contributors: Masaya Kataoka, Tatsuya Yamasaki, abco20 + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index e82a2c4372b..bb602331816 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 11.1.0 + 12.0.0 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index a2a560e8351..cd8b86c3baf 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 1bd5fd95d8c..696c02c7247 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 11.1.0 + 12.0.0 ROS messages for openscenario Masaya Kataoka Apache License 2.0 diff --git a/test_runner/random_test_runner/CHANGELOG.rst b/test_runner/random_test_runner/CHANGELOG.rst index ffe6a004091..837c40afeca 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge branch 'master' into feature/execution_time diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 745ff53f53b..65449ab428d 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 11.1.0 + 12.0.0 Random behavior test runner piotr-zyskowski-rai Apache License 2.0 diff --git a/test_runner/scenario_test_runner/CHANGELOG.rst b/test_runner/scenario_test_runner/CHANGELOG.rst index 504a85bf34b..025ef586915 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,12 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.0 (2025-02-25) +------------------- +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Merge branch 'master' into refactor/lanelet_wrapper_bound +* Contributors: Tatsuya Yamasaki + 11.1.0 (2025-02-21) ------------------- * Merge pull request `#1517 `_ from tier4/feature/execution_time diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 4d48aee522e..340c3ef4b65 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 11.1.0 + 12.0.0 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 4b4ef1865ed8b7d46b75815d67184c0a6f5aada2 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 25 Feb 2025 16:33:46 +0900 Subject: [PATCH 63/77] Rename parameter `phi` to `autocorrelation_coefficient` Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.cpp | 85 +++++++++++-------- .../config/parameters.yaml | 8 +- 2 files changed, 52 insertions(+), 41 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index edd946b3da4..2747767ba52 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -318,26 +318,6 @@ auto DetectionSensor::update( return detected_entities; }; - /* - We use AR(1) model to model the autocorrelation coefficients `phi` for - `distance_noise` and `yaw_noise` with Gaussian distribution, by the - following formula: - - noise(prev_noise) = mean + phi * (prev_noise - mean) + N(0, 1 - phi^2) * standard_deviation - - We use Markov process to model the autocorrelation coefficients `phi` - for `flip` and `true_positive` with Bernoulli distribution, by the - transition matrix: - - | p_00 p_01 | == | p0 + phi * p1 p1 (1 - phi) | - | p_10 p_11 | == | p0 (1 - phi) p1 - phi * p0 | - - In the code, we use `phi` for the above autocorrelation coefficients - `phi`, which is calculated from the time_interval `dt` by the following - formula: - - phi(dt) = amplitude * exp(-decay * dt) + offset - */ auto noise_v2 = [&](const auto & detected_entities, auto simulation_time) { auto noised_detected_entities = std::decay_t(); @@ -376,21 +356,47 @@ auto DetectionSensor::update( } }; - auto ar1_noise = [this](auto previous_noise, auto mean, auto standard_deviation, auto phi) { - return mean + phi * (previous_noise - mean) + + /* + We use AR(1) model to model the autocorrelation coefficients `phi` + for `distance_noise` and `yaw_noise` with Gaussian distribution, by + the following formula: + + noise(prev_noise) = mean + phi * (prev_noise - mean) + N(0, 1 - phi^2) * standard_deviation + */ + auto autoregressive_noise = [this]( + auto previous_noise, auto mean, auto standard_deviation, + auto autocorrelation_coefficient) { + return mean + autocorrelation_coefficient * (previous_noise - mean) + std::normal_distribution( - 0, standard_deviation * std::sqrt(1 - phi * phi))(random_engine_); + 0, standard_deviation * + std::sqrt(1 - std::pow(autocorrelation_coefficient, 2)))(random_engine_); }; - auto mp_noise = [this](bool is_previous_noise_1, auto p1, auto phi) { - const auto rate = (is_previous_noise_1 ? 1.0 : 0.0) * phi + (1 - phi) * p1; - return std::uniform_real_distribution()(random_engine_) < rate; - }; + /* + We use Markov process to model the autocorrelation coefficients + `phi` for `flip` and `true_positive` with Bernoulli distribution, by + the transition matrix: + + | p_00 p_01 | == | p0 + phi * p1 p1 (1 - phi) | + | p_10 p_11 | == | p0 (1 - phi) p1 - phi * p0 | + + In the code, we use `phi` for the above autocorrelation coefficients + `phi`, which is calculated from the time_interval `dt` by the + following formula: + + phi(dt) = amplitude * exp(-decay * dt) + offset + */ + auto markov_process_noise = + [this](bool is_previous_noise_1, auto p1, auto autocorrelation_coefficient) { + const auto rate = (is_previous_noise_1 ? 1.0 : 0.0) * autocorrelation_coefficient + + (1 - autocorrelation_coefficient) * p1; + return std::uniform_real_distribution()(random_engine_) < rate; + }; - auto phi = [&](const std::string & name) { - static const auto amplitude = parameter(name + ".phi.amplitude"); - static const auto decay = parameter(name + ".phi.decay"); - static const auto offset = parameter(name + ".phi.offset"); + auto autocorrelation_coefficient = [&](const std::string & name) { + static const auto amplitude = parameter(name + ".autocorrelation_coefficient.amplitude"); + static const auto decay = parameter(name + ".autocorrelation_coefficient.decay"); + static const auto offset = parameter(name + ".autocorrelation_coefficient.offset"); return std::clamp(amplitude * std::exp(-interval * decay) + offset, 0.0, 1.0); }; @@ -421,8 +427,9 @@ auto DetectionSensor::update( static const auto standard_deviation = selector( parameter("distance.ellipse_normalized_x_radius.standard_deviation"), parameters("distance.standard_deviations")); - return ar1_noise( - noise_output->second.distance_noise, mean(), standard_deviation(), phi("distance")); + return autoregressive_noise( + noise_output->second.distance_noise, mean(), standard_deviation(), + autocorrelation_coefficient("distance")); }(); noise_output->second.yaw_noise = [&]() { @@ -431,22 +438,26 @@ auto DetectionSensor::update( static const auto standard_deviation = selector( parameter("yaw.ellipse_normalized_x_radius.standard_deviation"), parameters("yaw.standard_deviations")); - return ar1_noise( - noise_output->second.yaw_noise, mean(), standard_deviation(), phi("yaw")); + return autoregressive_noise( + noise_output->second.yaw_noise, mean(), standard_deviation(), + autocorrelation_coefficient("yaw")); }(); noise_output->second.flip = [&]() { static const auto velocity_threshold = parameter("yaw_flip.velocity_threshold"); static const auto rate = parameter("yaw_flip.rate"); return velocity < velocity_threshold and - mp_noise(noise_output->second.flip, rate, phi("yaw_flip")); + markov_process_noise( + noise_output->second.flip, rate, autocorrelation_coefficient("yaw_flip")); }(); noise_output->second.true_positive = [&]() { static const auto rate = selector( parameter("true_positive.ellipse_normalized_x_radius"), parameters("true_positive.rates")); - return mp_noise(noise_output->second.true_positive, rate(), phi("true_positive")); + return markov_process_noise( + noise_output->second.true_positive, rate(), + autocorrelation_coefficient("true_positive")); }(); if (noise_output->second.true_positive) { diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index cd2804d0110..9750bb82630 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -136,7 +136,7 @@ simulation: v2: ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] distance: - phi: + autocorrelation_coefficient: amplitude: 0.32 decay: 0.45 offset: 0.26 @@ -146,7 +146,7 @@ simulation: means: [-0.06, -0.04, -0.04, -0.07, -0.26, -0.56, -1.02, -1.05, 0.0] standard_deviations: [0.17, 0.20, 0.27, 0.40, 0.67, 0.94, 1.19, 1.17, 0.0] yaw: - phi: + autocorrelation_coefficient: amplitude: 0.22 decay: 0.52 offset: 0.21 @@ -156,14 +156,14 @@ simulation: means: [0.0, 0.01, 0.0, 0.0, 0.0, -0.07, 0.18, 0.06, 0.0] standard_deviations: [0.09, 0.15, 0.21, 0.18, 0.17, 0.19, 0.39, 0.15, 0.0] yaw_flip: - phi: + autocorrelation_coefficient: amplitude: 0.29 decay: 0.12 offset: 0.49 velocity_threshold: 0.1 rate: 0.12 true_positive: - phi: + autocorrelation_coefficient: amplitude: 0.32 decay: 0.26 offset: 0.40 From 9859470094cbcf0c7b457f5efbe3e8c9fb0fe430 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 25 Feb 2025 17:14:55 +0900 Subject: [PATCH 64/77] Organize the parameter file structure to be more reasonable Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.cpp | 43 ++++++++----------- .../config/parameters.yaml | 27 ++++++------ 2 files changed, 33 insertions(+), 37 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 2747767ba52..430c7d54d66 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -379,30 +379,31 @@ auto DetectionSensor::update( | p_00 p_01 | == | p0 + phi * p1 p1 (1 - phi) | | p_10 p_11 | == | p0 (1 - phi) p1 - phi * p0 | - - In the code, we use `phi` for the above autocorrelation coefficients - `phi`, which is calculated from the time_interval `dt` by the - following formula: - - phi(dt) = amplitude * exp(-decay * dt) + offset */ auto markov_process_noise = - [this](bool is_previous_noise_1, auto p1, auto autocorrelation_coefficient) { - const auto rate = (is_previous_noise_1 ? 1.0 : 0.0) * autocorrelation_coefficient + + [this](bool previous_noise, auto p1, auto autocorrelation_coefficient) { + const auto rate = (previous_noise ? 1.0 : 0.0) * autocorrelation_coefficient + (1 - autocorrelation_coefficient) * p1; return std::uniform_real_distribution()(random_engine_) < rate; }; + /* + We use `phi` for the above autocorrelation coefficients `phi`, which + is calculated from the time_interval `dt` by the following formula: + + phi(dt) = amplitude * exp(-decay * dt) + offset + */ auto autocorrelation_coefficient = [&](const std::string & name) { static const auto amplitude = parameter(name + ".autocorrelation_coefficient.amplitude"); static const auto decay = parameter(name + ".autocorrelation_coefficient.decay"); static const auto offset = parameter(name + ".autocorrelation_coefficient.offset"); - return std::clamp(amplitude * std::exp(-interval * decay) + offset, 0.0, 1.0); + return std::clamp(amplitude * std::exp(-decay * interval) + offset, 0.0, 1.0); }; - auto selector = [&](auto ellipse_normalized_x_radius, const auto & targets) { + auto selector = [&](const std::string & name) { static const auto ellipse_y_radii = parameters("ellipse_y_radii"); - return [&, ellipse_normalized_x_radius, targets]() { + return [&, ellipse_normalized_x_radius = parameter(name + ".ellipse_normalized_x_radius"), + values = parameters(name + ".values")]() { /* If the parameter `.noise.v2.ellipse_y_radii` contains the value 0.0, division by zero will occur here. @@ -414,7 +415,7 @@ auto DetectionSensor::update( const auto distance = std::hypot(x / ellipse_normalized_x_radius, y); for (auto i = std::size_t(0); i < ellipse_y_radii.size(); ++i) { if (distance < ellipse_y_radii[i]) { - return targets[i]; + return values[i]; } } return 0.0; @@ -422,22 +423,16 @@ auto DetectionSensor::update( }; noise_output->second.distance_noise = [&]() { - static const auto mean = selector( - parameter("distance.ellipse_normalized_x_radius.mean"), parameters("distance.means")); - static const auto standard_deviation = selector( - parameter("distance.ellipse_normalized_x_radius.standard_deviation"), - parameters("distance.standard_deviations")); + static const auto mean = selector("distance.mean"); + static const auto standard_deviation = selector("distance.standard_deviation"); return autoregressive_noise( noise_output->second.distance_noise, mean(), standard_deviation(), autocorrelation_coefficient("distance")); }(); noise_output->second.yaw_noise = [&]() { - static const auto mean = - selector(parameter("yaw.ellipse_normalized_x_radius.mean"), parameters("yaw.means")); - static const auto standard_deviation = selector( - parameter("yaw.ellipse_normalized_x_radius.standard_deviation"), - parameters("yaw.standard_deviations")); + static const auto mean = selector("yaw.mean"); + static const auto standard_deviation = selector("yaw.standard_deviation"); return autoregressive_noise( noise_output->second.yaw_noise, mean(), standard_deviation(), autocorrelation_coefficient("yaw")); @@ -452,9 +447,7 @@ auto DetectionSensor::update( }(); noise_output->second.true_positive = [&]() { - static const auto rate = selector( - parameter("true_positive.ellipse_normalized_x_radius"), - parameters("true_positive.rates")); + static const auto rate = selector("true_positive.rate"); return markov_process_noise( noise_output->second.true_positive, rate(), autocorrelation_coefficient("true_positive")); diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 9750bb82630..77768f2c52d 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -140,21 +140,23 @@ simulation: amplitude: 0.32 decay: 0.45 offset: 0.26 - ellipse_normalized_x_radius: - mean: 1.1 - standard_deviation: 1.0 - means: [-0.06, -0.04, -0.04, -0.07, -0.26, -0.56, -1.02, -1.05, 0.0] - standard_deviations: [0.17, 0.20, 0.27, 0.40, 0.67, 0.94, 1.19, 1.17, 0.0] + mean: + ellipse_normalized_x_radius: 1.1 + values: [-0.06, -0.04, -0.04, -0.07, -0.26, -0.56, -1.02, -1.05, 0.0] + standard_deviation: + ellipse_normalized_x_radius: 1.0 + values: [0.17, 0.20, 0.27, 0.40, 0.67, 0.94, 1.19, 1.17, 0.0] yaw: autocorrelation_coefficient: amplitude: 0.22 decay: 0.52 offset: 0.21 - ellipse_normalized_x_radius: - mean: 1.9 - standard_deviation: 0.8 - means: [0.0, 0.01, 0.0, 0.0, 0.0, -0.07, 0.18, 0.06, 0.0] - standard_deviations: [0.09, 0.15, 0.21, 0.18, 0.17, 0.19, 0.39, 0.15, 0.0] + mean: + ellipse_normalized_x_radius: 1.9 + values: [0.0, 0.01, 0.0, 0.0, 0.0, -0.07, 0.18, 0.06, 0.0] + standard_deviation: + ellipse_normalized_x_radius: 0.8 + values: [0.09, 0.15, 0.21, 0.18, 0.17, 0.19, 0.39, 0.15, 0.0] yaw_flip: autocorrelation_coefficient: amplitude: 0.29 @@ -167,5 +169,6 @@ simulation: amplitude: 0.32 decay: 0.26 offset: 0.40 - ellipse_normalized_x_radius: 0.7 - rates: [0.96, 0.78, 0.57, 0.48, 0.27, 0.07, 0.01, 0.0, 0.0] + rate: + ellipse_normalized_x_radius: 0.7 + values: [0.96, 0.78, 0.57, 0.48, 0.27, 0.07, 0.01, 0.0, 0.0] From 8d19a6d9ed99eff97ebf5c12420f2e9e37cec6fa Mon Sep 17 00:00:00 2001 From: Taiga Takano Date: Tue, 25 Feb 2025 17:18:15 +0900 Subject: [PATCH 65/77] fix typo --- .github/workflows/Docker.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/Docker.yaml b/.github/workflows/Docker.yaml index 8e2648cf0ea..bbf1d8f938d 100644 --- a/.github/workflows/Docker.yaml +++ b/.github/workflows/Docker.yaml @@ -69,7 +69,7 @@ jobs: *.cache-to=type=gha,mode=max *.cache-from=type=gha *.tags=ghcr.io/tier4/scenario_simulator_v2:traffic_simulator_${{ matrix.rosdistro }}-${{ github.event.inputs.version }} - *.tags=ghcr.io/tier4/scenario_simulator_v2:traffic_simulator_latest + *.tags=ghcr.io/tier4/scenario_simulator_v2:traffic_simulator-latest push: true targets: | traffic_simulator_${{ matrix.rosdistro }} @@ -136,7 +136,7 @@ jobs: *.cache-to=type=gha,mode=max *.cache-from=type=gha *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.event.inputs.version }} - *.tags=ghcr.io/tier4/scenario_simulator_v2:latest + *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-latest push: true targets: | ${{ matrix.rosdistro }}_base_${{ matrix.arch }} From 69915ac206e2eb472cf0f167fd5ee274e146e26e Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 26 Feb 2025 13:06:29 +0900 Subject: [PATCH 66/77] Update `DetectionSensor` to read seed from parameter file if model version is 2 Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.hpp | 34 ++++++++++++++++--- .../detection_sensor/detection_sensor.cpp | 1 + 2 files changed, 31 insertions(+), 4 deletions(-) diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp index fc4eeb7fb3c..0a948ac558f 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp @@ -25,6 +25,7 @@ #include #include #include +#include #include #include #include @@ -76,6 +77,8 @@ class DetectionSensor : public DetectionSensorBase const typename rclcpp::Publisher::SharedPtr ground_truth_objects_publisher; + int noise_model_version; + std::default_random_engine random_engine_; std::queue, double>> @@ -92,8 +95,6 @@ class DetectionSensor : public DetectionSensorBase std::unordered_map noise_outputs; - int noise_model_version; - public: explicit DetectionSensor( const double current_simulation_time, @@ -103,9 +104,34 @@ class DetectionSensor : public DetectionSensorBase : DetectionSensorBase(current_simulation_time, configuration), detected_objects_publisher(publisher), ground_truth_objects_publisher(ground_truth_publisher), - random_engine_(configuration.random_seed()), noise_model_version(concealer::getParameter( - detected_objects_publisher->get_topic_name() + std::string(".noise.model.version"))) + detected_objects_publisher->get_topic_name() + std::string(".noise.model.version"))), + random_engine_([this]() { + if (const auto seed = [this]() -> std::random_device::result_type { + switch (noise_model_version) { + default: + [[fallthrough]]; + case 1: + return configuration_.random_seed(); + case 2: + return concealer::getParameter( + detected_objects_publisher->get_topic_name() + std::string(".seed")); + } + }(); + seed) { + if (std::random_device::min() <= seed and seed <= std::random_device::max()) { + return seed; + } else { + throw common::scenario_simulator_exception::Error( + "The value of parameter ", + std::quoted(detected_objects_publisher->get_topic_name() + std::string(".seed")), + " must be greater than or equal to ", std::random_device::min(), + " and less than or equal to ", std::random_device::max()); + } + } else { + return std::random_device()(); + } + }()) { } diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 430c7d54d66..630bc864f89 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -363,6 +363,7 @@ auto DetectionSensor::update( noise(prev_noise) = mean + phi * (prev_noise - mean) + N(0, 1 - phi^2) * standard_deviation */ + // cspell: ignore autoregressive auto autoregressive_noise = [this]( auto previous_noise, auto mean, auto standard_deviation, auto autocorrelation_coefficient) { From 3042d1990669257732e0613447c1122dccfaad8c Mon Sep 17 00:00:00 2001 From: Release Bot Date: Wed, 26 Feb 2025 06:37:14 +0000 Subject: [PATCH 67/77] Bump version of scenario_simulator_v2 from version 12.0.0 to version 12.0.1 --- common/math/arithmetic/CHANGELOG.rst | 5 +++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 5 +++++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 5 +++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 5 +++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 5 +++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 5 +++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 5 +++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 5 +++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 5 +++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 5 +++++ mock/cpp_mock_scenarios/package.xml | 2 +- openscenario/openscenario_experimental_catalog/CHANGELOG.rst | 5 +++++ openscenario/openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 5 +++++ openscenario/openscenario_interpreter/package.xml | 2 +- openscenario/openscenario_interpreter_example/CHANGELOG.rst | 5 +++++ openscenario/openscenario_interpreter_example/package.xml | 2 +- openscenario/openscenario_interpreter_msgs/CHANGELOG.rst | 5 +++++ openscenario/openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 5 +++++ openscenario/openscenario_preprocessor/package.xml | 2 +- openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst | 5 +++++ openscenario/openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 5 +++++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 5 +++++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 5 +++++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../real_time_factor_control_rviz_plugin/CHANGELOG.rst | 5 +++++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 5 +++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 5 +++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 5 +++++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 5 +++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 5 +++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 5 +++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 5 +++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 5 +++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 5 +++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 174 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 22ae33b752a..7e66aa46011 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 5f7a13ddeeb..2e97e8bfad5 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 12.0.0 + 12.0.1 arithmetic library for scenario_simulator_v2 Tatsuya Yamasaki Apache License 2.0 diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst index 0cb7987199c..51f0d8d2610 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index ae394ccee7f..233d660a12e 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 12.0.0 + 12.0.1 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 889c3b923d7..25e73b077ab 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index f8391489070..95d7a38d831 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 12.0.0 + 12.0.1 Exception types for scenario simulator Tatsuya Yamasaki Apache License 2.0 diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst index eb9abfa05cd..046da829943 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 8f85282e6bd..ee8b40dc839 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 12.0.0 + 12.0.1 Lightweight JUnit library for ROS 2 Masaya Kataoka Tatsuya Yamasaki diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst index d30dbb6dbb8..d3f797a2954 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index b4c821a3595..79a0f0db14e 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 12.0.0 + 12.0.1 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 8aec142f89e..c3ccaf86313 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 9fe4edc8ae6..cc015a43299 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 12.0.0 + 12.0.1 Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator. Tatsuya Yamasaki Apache License 2.0 diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst index 4564a4e8d6a..1b70cde8809 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,11 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 701cbe993a5..6293f3c9f30 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 12.0.0 + 12.0.1 vendor packages for intel raytracing kernel library masaya Apache 2.0 diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst index 411b701e8db..e8112c7aa09 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index d594fa46de2..7cfbe8375bd 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 12.0.0 + 12.0.1 map package for kashiwanoha Masaya Kataoka Apache License 2.0 diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst index dcfa4ba2c95..df210e77fe4 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,11 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 657fdc59972..7e3b4bc39e5 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 12.0.0 + 12.0.1 map package for simple cross Masaya Kataoka Apache License 2.0 diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst index 6ad799d51bc..bd2b61d6784 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge pull request `#1533 `_ from tier4/refactor/lanelet_wrapper_bound diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 40e018f89b0..d62031e024a 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 12.0.0 + 12.0.1 C++ mock scenarios masaya Apache License 2.0 diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst index e3d6536209c..c5a03257cc1 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index f73d9523e07..defc8196b57 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 12.0.0 + 12.0.1 TIER IV experimental catalogs for OpenSCENARIO Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst index a10421e8936..d5a0aae2a54 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,11 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 52539d27571..282985ecd18 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 12.0.0 + 12.0.1 OpenSCENARIO 1.2.0 interpreter package for Autoware Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst index 53ba66b98ea..0c9de69d264 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index fe3a650fae2..cfbafa41e58 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 12.0.0 + 12.0.1 Examples for some TIER IV OpenSCENARIO Interpreter's features Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst index 741e0983481..c870f5a68f7 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index b76c9cb38eb..c7f8a065fe3 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 12.0.0 + 12.0.1 ROS message types for package openscenario_interpreter Yamasaki Tatsuya Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst index 597662ceebd..58fd1e64962 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 8bdfc28815a..6a29b690cf3 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 12.0.0 + 12.0.1 Example package for TIER IV OpenSCENARIO Interpreter Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst index 1b64019ff79..deb6b208998 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 4b36d727047..7d1f84622ef 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 12.0.0 + 12.0.1 ROS message types for package openscenario_preprocessor Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_utility/CHANGELOG.rst b/openscenario/openscenario_utility/CHANGELOG.rst index d1650b602bb..9cd0687e804 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,11 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index bc66b95f8e1..874b2d7589a 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 12.0.0 + 12.0.1 Utility tools for ASAM OpenSCENARIO 1.2.0 Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_validator/CHANGELOG.rst b/openscenario/openscenario_validator/CHANGELOG.rst index 10c445ac986..4fcef3c52f7 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,11 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 58bae0f1745..58773de8e68 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 12.0.0 + 12.0.1 Validator for OpenSCENARIO 1.3 Kotaro Yoshimoto Apache License 2.0 diff --git a/rviz_plugins/openscenario_visualization/CHANGELOG.rst b/rviz_plugins/openscenario_visualization/CHANGELOG.rst index f144682d8c0..838acbf782b 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 3cca1c5f753..1fcc732b15d 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 12.0.0 + 12.0.1 Visualization tools for simulation results Masaya Kataoka Kyoichi Sugahara diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst index 9057a9d181f..53f2eb95272 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml index e9b04dc0611..f1c209e2ca8 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml @@ -2,7 +2,7 @@ real_time_factor_control_rviz_plugin - 12.0.0 + 12.0.1 Slider controlling real time factor value. Paweł Lech Apache License 2.0 diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst index 838d4f40d21..131991c8dff 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index db5dc448f77..0d66270c993 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 12.0.0 + 12.0.1 scenario testing framework for Autoware Masaya Kataoka Apache License 2.0 diff --git a/simulation/behavior_tree_plugin/CHANGELOG.rst b/simulation/behavior_tree_plugin/CHANGELOG.rst index 645c002f5d2..930e00c9d8b 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 537f40ddc6f..c9fd414c4c9 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 12.0.0 + 12.0.1 Behavior tree plugin for traffic_simulator masaya Apache 2.0 diff --git a/simulation/do_nothing_plugin/CHANGELOG.rst b/simulation/do_nothing_plugin/CHANGELOG.rst index 55baff71645..420ffb4566e 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 150a9af06d4..2deaf24566c 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 12.0.0 + 12.0.1 Behavior plugin for do nothing Masaya Kataoka Apache 2.0 diff --git a/simulation/simple_sensor_simulator/CHANGELOG.rst b/simulation/simple_sensor_simulator/CHANGELOG.rst index e619d50eff2..12e6ebee5af 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index f60b99bdfc7..70872f05696 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 12.0.0 + 12.0.1 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index f9efe83583a..2f87294185e 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 98785035058..dd6d1a1e3c3 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 12.0.0 + 12.0.1 packages to define interface between simulator and scenario interpreter Masaya Kataoka Apache License 2.0 diff --git a/simulation/traffic_simulator/CHANGELOG.rst b/simulation/traffic_simulator/CHANGELOG.rst index fb3b8d12e5f..720605d3ed9 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge pull request `#1533 `_ from tier4/refactor/lanelet_wrapper_bound diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index bb602331816..8daee7f6b62 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 12.0.0 + 12.0.1 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index cd8b86c3baf..97cf8cd1a27 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 696c02c7247..9215e1e7285 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 12.0.0 + 12.0.1 ROS messages for openscenario Masaya Kataoka Apache License 2.0 diff --git a/test_runner/random_test_runner/CHANGELOG.rst b/test_runner/random_test_runner/CHANGELOG.rst index 837c40afeca..45471b8b535 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 65449ab428d..37b0413178f 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 12.0.0 + 12.0.1 Random behavior test runner piotr-zyskowski-rai Apache License 2.0 diff --git a/test_runner/scenario_test_runner/CHANGELOG.rst b/test_runner/scenario_test_runner/CHANGELOG.rst index 025ef586915..e515d6bc917 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,11 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.1 (2025-02-26) +------------------- +* Merge branch 'master' into feature/push-latest-docker-tag +* Contributors: Masaya Kataoka + 12.0.0 (2025-02-25) ------------------- * Merge branch 'master' into refactor/lanelet_wrapper_bound diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 340c3ef4b65..3cf50835294 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 12.0.0 + 12.0.1 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From eb295dbfe0026ba7329c86fbd55f7b8250824492 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 26 Feb 2025 16:10:03 +0900 Subject: [PATCH 68/77] Add parameters to maintain backward compatibility Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.hpp | 55 +++++++++++++++++++ .../detection_sensor/detection_sensor.cpp | 30 +++++++--- .../config/parameters.yaml | 14 ++++- 3 files changed, 90 insertions(+), 9 deletions(-) diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp index 0a948ac558f..159bf279da0 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp @@ -95,6 +95,61 @@ class DetectionSensor : public DetectionSensorBase std::unordered_map noise_outputs; + template , int> = 0> + auto delay() const + { + static const auto override_legacy_configuration = concealer::getParameter( + detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration")); + if (override_legacy_configuration) { + static const auto delay = concealer::getParameter( + detected_objects_publisher->get_topic_name() + std::string(".delay")); + return delay; + } else { + return configuration_.object_recognition_delay(); + } + } + + template , int> = 0> + auto delay() const + { + static const auto override_legacy_configuration = concealer::getParameter( + ground_truth_objects_publisher->get_topic_name() + + std::string(".override_legacy_configuration")); + if (override_legacy_configuration) { + static const auto delay = concealer::getParameter( + ground_truth_objects_publisher->get_topic_name() + std::string(".delay")); + return delay; + } else { + return configuration_.object_recognition_ground_truth_delay(); + } + } + + auto range() const + { + static const auto override_legacy_configuration = concealer::getParameter( + detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration")); + if (override_legacy_configuration) { + static const auto range = concealer::getParameter( + detected_objects_publisher->get_topic_name() + std::string(".range"), 300.0); + return range; + } else { + return configuration_.range(); + } + } + + auto detect_all_objects_in_range() const + { + static const auto override_legacy_configuration = concealer::getParameter( + detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration")); + if (override_legacy_configuration) { + static const auto clairvoyant = concealer::getParameter( + detected_objects_publisher->get_topic_name() + std::string(".clairvoyant")); + return clairvoyant; + } else { + return configuration_.detect_all_objects_in_range(); + } + } + public: explicit DetectionSensor( const double current_simulation_time, diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 630bc864f89..47ea84d9f85 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -281,9 +281,9 @@ auto DetectionSensor::update( auto is_in_range = [&](const auto & status) { return not isEgoEntityStatusToWhichThisSensorIsAttached(status) and - distance(status.pose(), ego_entity_status->pose()) <= configuration_.range() and + distance(status.pose(), ego_entity_status->pose()) <= range() and isOnOrAboveEgoPlane(status.pose(), ego_entity_status->pose()) and - (configuration_.detect_all_objects_in_range() or + (detect_all_objects_in_range() or std::find( lidar_detected_entities.begin(), lidar_detected_entities.end(), status.name()) != lidar_detected_entities.end()); @@ -296,8 +296,23 @@ auto DetectionSensor::update( simulator publishes, copy the following function and implement new one. */ auto noise_v1 = [&](auto detected_entities, [[maybe_unused]] auto simulation_time) { - auto position_noise_distribution = - std::normal_distribution<>(0.0, configuration_.pos_noise_stddev()); + static const auto override_legacy_configuration = concealer::getParameter( + detected_objects_publisher->get_topic_name() + + std::string(".override_legacy_configuration")); + + static const auto standard_deviation = + override_legacy_configuration ? concealer::getParameter( + detected_objects_publisher->get_topic_name() + + std::string(".noise.v1.position.standard_deviation")) + : configuration_.pos_noise_stddev(); + + static const auto missing_probability = override_legacy_configuration + ? concealer::getParameter( + detected_objects_publisher->get_topic_name() + + std::string(".noise.v1.missing_probability")) + : configuration_.probability_of_lost(); + + auto position_noise_distribution = std::normal_distribution<>(0.0, standard_deviation); for (auto && detected_entity : detected_entities) { detected_entity.mutable_pose()->mutable_position()->set_x( @@ -310,8 +325,7 @@ auto DetectionSensor::update( std::remove_if( detected_entities.begin(), detected_entities.end(), [this](auto &&) { - return std::uniform_real_distribution()(random_engine_) < - configuration_.probability_of_lost(); + return std::uniform_real_distribution()(random_engine_) < missing_probability; }), detected_entities.end()); @@ -529,7 +543,7 @@ auto DetectionSensor::update( if ( current_simulation_time - unpublished_detected_entities.front().second >= - configuration_.object_recognition_delay()) { + delay()) { const auto modified_detected_entities = std::apply(noise, unpublished_detected_entities.front()); detected_objects_publisher->publish(make_detected_objects(modified_detected_entities)); @@ -540,7 +554,7 @@ auto DetectionSensor::update( if ( current_simulation_time - unpublished_ground_truth_entities.front().second >= - configuration_.object_recognition_ground_truth_delay()) { + delay()) { ground_truth_objects_publisher->publish( make_ground_truth_objects(unpublished_ground_truth_entities.front().first)); unpublished_ground_truth_entities.pop(); diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 77768f2c52d..595a732991b 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -130,10 +130,18 @@ simulation: /perception/object_recognition/detection/objects: version: 20240605 # architecture_type suffix (mandatory) seed: 0 # If 0 is specified, a random seed value will be generated for each run. + override_legacy_configuration: false + delay: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPublishingDelay` in `ObjectController.Properties` in the scenario file is used. + range: 300.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectionSensorRange` in `ObjectController.Properties` in the scenario file is used. + clairvoyant: false # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `isClairvoyant` in `ObjectController.Properties` in the scenario file is used. noise: model: version: 2 # Any of [1, 2]. - v2: + v1: # This clause is used only if `model.version` is 1. + position: + standard_deviation: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPositionStandardDeviation` in `ObjectController.Properties` in the scenario file is used. + missing_probability: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectMissingProbability` in `ObjectController.Properties` in the scenario file is used. + v2: # This clause is used only if `model.version` is 2. ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] distance: autocorrelation_coefficient: @@ -172,3 +180,7 @@ simulation: rate: ellipse_normalized_x_radius: 0.7 values: [0.96, 0.78, 0.57, 0.48, 0.27, 0.07, 0.01, 0.0, 0.0] + /perception/object_recognition/ground_truth/objects: + version: 20240605 # architecture_type suffix (mandatory) + override_legacy_configuration: false + delay: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectGroundTruthPublishingDelay` in `ObjectController.Properties` in the scenario file is used. From 92cce2c26dba4dce17e720f6064ce3d76d78e8a4 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Fri, 28 Feb 2025 11:07:18 +0900 Subject: [PATCH 69/77] Cleanup parameter file Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.cpp | 6 +-- .../config/parameters.yaml | 48 +++++++++---------- 2 files changed, 27 insertions(+), 27 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 47ea84d9f85..91633a3eb29 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -343,7 +343,7 @@ auto DetectionSensor::update( detected_entity.pose().position().x() - ego_entity_status->pose().position().x(); const auto y = detected_entity.pose().position().y() - ego_entity_status->pose().position().y(); - const auto velocity = std::hypot( + const auto speed = std::hypot( detected_entity.action_status().twist().linear().x(), detected_entity.action_status().twist().linear().y()); const auto interval = @@ -454,9 +454,9 @@ auto DetectionSensor::update( }(); noise_output->second.flip = [&]() { - static const auto velocity_threshold = parameter("yaw_flip.velocity_threshold"); + static const auto speed_threshold = parameter("yaw_flip.speed_threshold"); static const auto rate = parameter("yaw_flip.rate"); - return velocity < velocity_threshold and + return speed < speed_threshold and markov_process_noise( noise_output->second.flip, rate, autocorrelation_coefficient("yaw_flip")); }(); diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 595a732991b..82a608efea8 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -136,7 +136,7 @@ simulation: clairvoyant: false # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `isClairvoyant` in `ObjectController.Properties` in the scenario file is used. noise: model: - version: 2 # Any of [1, 2]. + version: 1 # Any of [1, 2]. v1: # This clause is used only if `model.version` is 1. position: standard_deviation: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPositionStandardDeviation` in `ObjectController.Properties` in the scenario file is used. @@ -145,41 +145,41 @@ simulation: ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] distance: autocorrelation_coefficient: - amplitude: 0.32 - decay: 0.45 - offset: 0.26 + amplitude: 0.0 + decay: 0.0 + offset: 0.0 mean: - ellipse_normalized_x_radius: 1.1 - values: [-0.06, -0.04, -0.04, -0.07, -0.26, -0.56, -1.02, -1.05, 0.0] + ellipse_normalized_x_radius: 1.0 + values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] standard_deviation: ellipse_normalized_x_radius: 1.0 - values: [0.17, 0.20, 0.27, 0.40, 0.67, 0.94, 1.19, 1.17, 0.0] + values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] yaw: autocorrelation_coefficient: - amplitude: 0.22 - decay: 0.52 - offset: 0.21 + amplitude: 0.0 + decay: 0.0 + offset: 0.0 mean: - ellipse_normalized_x_radius: 1.9 - values: [0.0, 0.01, 0.0, 0.0, 0.0, -0.07, 0.18, 0.06, 0.0] + ellipse_normalized_x_radius: 1.0 + values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] standard_deviation: - ellipse_normalized_x_radius: 0.8 - values: [0.09, 0.15, 0.21, 0.18, 0.17, 0.19, 0.39, 0.15, 0.0] + ellipse_normalized_x_radius: 1.0 + values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] yaw_flip: autocorrelation_coefficient: - amplitude: 0.29 - decay: 0.12 - offset: 0.49 - velocity_threshold: 0.1 - rate: 0.12 + amplitude: 0.0 + decay: 0.0 + offset: 0.0 + speed_threshold: 0.1 + rate: 0.0 true_positive: autocorrelation_coefficient: - amplitude: 0.32 - decay: 0.26 - offset: 0.40 + amplitude: 0.0 + decay: 0.0 + offset: 0.0 rate: - ellipse_normalized_x_radius: 0.7 - values: [0.96, 0.78, 0.57, 0.48, 0.27, 0.07, 0.01, 0.0, 0.0] + ellipse_normalized_x_radius: 1.0 + values: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] /perception/object_recognition/ground_truth/objects: version: 20240605 # architecture_type suffix (mandatory) override_legacy_configuration: false From ddacacbcaa5bcbcc621d8de32806212959880162 Mon Sep 17 00:00:00 2001 From: f0reachARR Date: Thu, 13 Feb 2025 17:14:04 +0900 Subject: [PATCH 70/77] Update ostream helper Co-authored-by: Dawid Moszynski Co-authored-by: Mateusz Palczuk --- simulation/traffic_simulator/CMakeLists.txt | 1 + .../data_type/lanelet_pose.hpp | 29 ++-- .../traffic_simulator/helper/helper.hpp | 12 -- .../helper/ostream_helpers.hpp | 60 ++++++++ .../traffic_simulator/src/helper/helper.cpp | 35 ----- .../src/helper/ostream_helpers.cpp | 130 ++++++++++++++++++ .../test/src/helper/test_helper.cpp | 7 +- 7 files changed, 218 insertions(+), 56 deletions(-) create mode 100644 simulation/traffic_simulator/include/traffic_simulator/helper/ostream_helpers.hpp create mode 100644 simulation/traffic_simulator/src/helper/ostream_helpers.cpp diff --git a/simulation/traffic_simulator/CMakeLists.txt b/simulation/traffic_simulator/CMakeLists.txt index f55539afe1f..57f88112ccd 100644 --- a/simulation/traffic_simulator/CMakeLists.txt +++ b/simulation/traffic_simulator/CMakeLists.txt @@ -46,6 +46,7 @@ ament_auto_add_library(traffic_simulator SHARED src/entity/vehicle_entity.cpp src/hdmap_utils/hdmap_utils.cpp src/helper/helper.cpp + src/helper/ostream_helpers.cpp src/job/job.cpp src/job/job_list.cpp src/lanelet_wrapper/lanelet_loader.cpp diff --git a/simulation/traffic_simulator/include/traffic_simulator/data_type/lanelet_pose.hpp b/simulation/traffic_simulator/include/traffic_simulator/data_type/lanelet_pose.hpp index 90e2fb11a2e..afb82568802 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/data_type/lanelet_pose.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/data_type/lanelet_pose.hpp @@ -15,15 +15,8 @@ #ifndef TRAFFIC_SIMULATOR__DATA_TYPE__LANELET_POSE_HPP_ #define TRAFFIC_SIMULATOR__DATA_TYPE__LANELET_POSE_HPP_ -#include - -#include -#include -#include -#include -#include #include -#include +#include namespace traffic_simulator { @@ -81,6 +74,26 @@ class CanonicalizedLaneletPose DEFINE_COMPARISON_OPERATOR(>) #undef DEFINE_COMPARISON_OPERATOR + friend std::ostream & operator<<(std::ostream & os, const CanonicalizedLaneletPose & obj) + { + os << "CanonicalizedLaneletPose(\n"; + os << obj.lanelet_pose_ << "\n"; + if (obj.lanelet_poses_.size() == 1) { + os << " alternative from lanelet_poses_: " << obj.lanelet_poses_.front() << "\n"; + } else if (obj.lanelet_poses_.size() > 1) { + os << " lanelet_poses_: [\n"; + for (const auto & pose : obj.lanelet_poses_) { + os << " - " << pose << "\n"; + } + os << " ]\n"; + } + os << " map_pose_: " << obj.map_pose_ << "\n"; + os << " consider_pose_by_road_slope_: " + << (CanonicalizedLaneletPose::consider_pose_by_road_slope_ ? "true" : "false") << "\n"; + os << ")"; + return os; + } + private: auto adjustOrientationAndOzPosition() -> void; LaneletPose lanelet_pose_; diff --git a/simulation/traffic_simulator/include/traffic_simulator/helper/helper.hpp b/simulation/traffic_simulator/include/traffic_simulator/helper/helper.hpp index c86e3723c3c..dec9b5ab2aa 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/helper/helper.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/helper/helper.hpp @@ -153,17 +153,6 @@ const simulation_api_schema::DetectionSensorConfiguration constructDetectionSens } // namespace helper } // namespace traffic_simulator -std::ostream & operator<<( - std::ostream & os, const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose); - -std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Point & point); - -std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Vector3 & vector); - -std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Quaternion & quat); - -std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Pose & pose); - template auto operator+(const std::vector & v0, const std::vector & v1) -> decltype(auto) { @@ -189,5 +178,4 @@ auto sortAndUnique(const std::vector & data) -> std::vector ret.erase(std::unique(ret.begin(), ret.end()), ret.end()); return ret; } - #endif // TRAFFIC_SIMULATOR__HELPER__HELPER_HPP_ diff --git a/simulation/traffic_simulator/include/traffic_simulator/helper/ostream_helpers.hpp b/simulation/traffic_simulator/include/traffic_simulator/helper/ostream_helpers.hpp new file mode 100644 index 00000000000..868719a068d --- /dev/null +++ b/simulation/traffic_simulator/include/traffic_simulator/helper/ostream_helpers.hpp @@ -0,0 +1,60 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// 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 TRAFFIC_SIMULATOR_HELPER__OSTREAM_HELPERS_HPP_ +#define TRAFFIC_SIMULATOR_HELPER__OSTREAM_HELPERS_HPP_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace traffic_simulator +{ +std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Point & point); + +std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Vector3 & vector); + +std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Quaternion & quat); + +std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Pose & pose); + +std::ostream & operator<<( + std::ostream & os, const traffic_simulator_msgs::msg::LaneletPose & ll_pose); + +std::ostream & operator<<( + std::ostream & os, const traffic_simulator_msgs::msg::EntitySubtype & subtype); + +std::ostream & operator<<(std::ostream & os, const traffic_simulator_msgs::msg::Axle & axle); + +std::ostream & operator<<(std::ostream & os, const traffic_simulator_msgs::msg::Axles & axles); + +std::ostream & operator<<( + std::ostream & os, const traffic_simulator_msgs::msg::BoundingBox & bounding_box); + +std::ostream & operator<<( + std::ostream & os, const traffic_simulator_msgs::msg::Performance & performance); + +std::ostream & operator<<( + std::ostream & os, const traffic_simulator_msgs::msg::VehicleParameters & params); +} // namespace traffic_simulator + +#endif // TRAFFIC_SIMULATOR_HELPER__OSTREAM_HELPERS_HPP_ diff --git a/simulation/traffic_simulator/src/helper/helper.cpp b/simulation/traffic_simulator/src/helper/helper.cpp index b36e3aacfb1..f96a8576d37 100644 --- a/simulation/traffic_simulator/src/helper/helper.cpp +++ b/simulation/traffic_simulator/src/helper/helper.cpp @@ -186,38 +186,3 @@ const simulation_api_schema::LidarConfiguration constructLidarConfiguration( } // namespace helper } // namespace traffic_simulator - -std::ostream & operator<<( - std::ostream & os, const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose) -{ - os << "lanelet id : " << lanelet_pose.lanelet_id << "\ns : " << lanelet_pose.s; - return os; -} - -std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Point & point) -{ - os << "x : " << point.x << ",y : " << point.y << ",z : " << point.z << std::endl; - return os; -} - -std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Vector3 & vector) -{ - os << "x : " << vector.x << ",y : " << vector.y << ",z : " << vector.z << std::endl; - return os; -} - -std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Quaternion & quat) -{ - os << "x : " << quat.x << ",y : " << quat.y << ",z : " << quat.z << ",w : " << quat.w - << std::endl; - return os; -} - -std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Pose & pose) -{ - os << "position : " << std::endl; - os << pose.position << std::endl; - os << "orientation : " << std::endl; - os << pose.orientation << std::endl; - return os; -} diff --git a/simulation/traffic_simulator/src/helper/ostream_helpers.cpp b/simulation/traffic_simulator/src/helper/ostream_helpers.cpp new file mode 100644 index 00000000000..891699327b5 --- /dev/null +++ b/simulation/traffic_simulator/src/helper/ostream_helpers.cpp @@ -0,0 +1,130 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// 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 + +namespace traffic_simulator +{ +// basic ros types +std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Point & point) +{ + os << "Point(x: " << point.x << ", y: " << point.y << ", z: " << point.z << ")"; + return os; +} + +std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Vector3 & vector) +{ + os << "Vector3(x: " << vector.x << ", y: " << vector.y << ", z: " << vector.z << ")"; + return os; +} + +std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Quaternion & quat) +{ + os << "Quaternion(x: " << quat.x << ", y: " << quat.y << ", z: " << quat.z << ", w: " << quat.w + << ")"; + return os; +} + +std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Pose & pose) +{ + os << "Pose(position: " << pose.position << ", orientation: " << pose.orientation; + return os; +} + +// traffic_simulator_msgs +std::ostream & operator<<( + std::ostream & os, const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose) +{ + os << "LaneletPose(lanelet_id: " << lanelet_pose.lanelet_id << ", s: " << lanelet_pose.s + << ", offset: " << lanelet_pose.offset << ", rpy: " << lanelet_pose.rpy << ")"; + return os; +} + +std::ostream & operator<<( + std::ostream & os, const traffic_simulator_msgs::msg::EntitySubtype & subtype) +{ + using EntitySubtype = traffic_simulator_msgs::msg::EntitySubtype; + static const std::unordered_map entity_names = { + {EntitySubtype::UNKNOWN, "UNKNOWN"}, {EntitySubtype::CAR, "CAR"}, + {EntitySubtype::TRUCK, "TRUCK"}, {EntitySubtype::BUS, "BUS"}, + {EntitySubtype::TRAILER, "TRAILER"}, {EntitySubtype::MOTORCYCLE, "MOTORCYCLE"}, + {EntitySubtype::BICYCLE, "BICYCLE"}, {EntitySubtype::PEDESTRIAN, "PEDESTRIAN"}}; + + os << "EntitySubtype("; + if (const auto & it = entity_names.find(subtype.value); it != entity_names.end()) { + os << it->second; + } else { + os << "UNKNOWN(" << static_cast(subtype.value) << ")"; + } + os << ")"; + return os; +} + +std::ostream & operator<<(std::ostream & os, const traffic_simulator_msgs::msg::Axle & axle) +{ + os << "Axle(\n"; + os << " max_steering: " << axle.max_steering << "\n"; + os << " wheel_diameter: " << axle.wheel_diameter << "\n"; + os << " track_width: " << axle.track_width << "\n"; + os << " position_x: " << axle.position_x << "\n"; + os << " position_z: " << axle.position_z << "\n"; + os << ")"; + return os; +} + +std::ostream & operator<<(std::ostream & os, const traffic_simulator_msgs::msg::Axles & axles) +{ + os << "Axles(\n"; + os << " front_axle: " << axles.front_axle << "\n"; + os << " rear_axle: " << axles.rear_axle << "\n"; + os << ")"; + return os; +} + +std::ostream & operator<<( + std::ostream & os, const traffic_simulator_msgs::msg::BoundingBox & bounding_box) +{ + os << "BoundingBox(\n"; + os << " center: " << bounding_box.center << "\n"; + os << " dimensions: " << bounding_box.dimensions << "\n"; + os << ")"; + return os; +} + +std::ostream & operator<<( + std::ostream & os, const traffic_simulator_msgs::msg::Performance & performance) +{ + os << "Performance(\n"; + os << " max_acceleration: " << performance.max_acceleration << "\n"; + os << " max_acceleration_rate: " << performance.max_acceleration_rate << "\n"; + os << " max_deceleration: " << performance.max_deceleration << "\n"; + os << " max_deceleration_rate: " << performance.max_deceleration_rate << "\n"; + os << " max_speed: " << performance.max_speed << "\n"; + os << ")"; + return os; +} + +std::ostream & operator<<( + std::ostream & os, const traffic_simulator_msgs::msg::VehicleParameters & params) +{ + os << "VehicleParameters(\n"; + os << " name: " << params.name << "\n"; + os << " subtype: " << params.subtype << "\n"; + os << " bounding_box: " << params.bounding_box << "\n"; + os << " performance: " << params.performance << "\n"; + os << " axles: " << params.axles << "\n"; + os << ")"; + return os; +} +} // namespace traffic_simulator diff --git a/simulation/traffic_simulator/test/src/helper/test_helper.cpp b/simulation/traffic_simulator/test/src/helper/test_helper.cpp index 4ddfdfa28e1..1c26bf5ea1c 100644 --- a/simulation/traffic_simulator/test/src/helper/test_helper.cpp +++ b/simulation/traffic_simulator/test/src/helper/test_helper.cpp @@ -18,6 +18,7 @@ #include #include #include +#include #include "../expect_eq_macros.hpp" @@ -43,6 +44,8 @@ TEST(helper, constructActionStatus) */ TEST(helper, constructLaneletPose) { + using traffic_simulator::operator<<; + const auto actual_lanelet_pose = traffic_simulator_msgs::build() .lanelet_id(11LL) @@ -56,7 +59,9 @@ TEST(helper, constructLaneletPose) std::stringstream ss; ss << result_lanelet_pose; EXPECT_LANELET_POSE_EQ(result_lanelet_pose, actual_lanelet_pose); - EXPECT_STREQ(ss.str().c_str(), "lanelet id : 11\ns : 13"); + EXPECT_STREQ( + ss.str().c_str(), + "LaneletPose(lanelet_id: 11, s: 13, offset: 17, rpy: Vector3(x: 19, y: 23, z: 29))"); } /** From a3513e646f1666a729b8fd28b59f40f7ad7e8111 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Fri, 28 Feb 2025 15:39:13 +0900 Subject: [PATCH 71/77] Add new document `Parameters.md` Signed-off-by: yamacir-kit --- docs/developer_guide/.pages | 1 + docs/developer_guide/Parameters.md | 439 ++++++++++++++++++ .../detection_sensor/detection_sensor.hpp | 6 +- .../detection_sensor/detection_sensor.cpp | 8 +- .../config/parameters.yaml | 12 +- 5 files changed, 453 insertions(+), 13 deletions(-) create mode 100644 docs/developer_guide/Parameters.md diff --git a/docs/developer_guide/.pages b/docs/developer_guide/.pages index 949b856adfc..1f8c92f0091 100644 --- a/docs/developer_guide/.pages +++ b/docs/developer_guide/.pages @@ -13,6 +13,7 @@ nav: - ManualOverrideWithFollowTrajectoryAction.md - NPCBehavior.md - OpenSCENARIOSupport.md + - Parameters.md - SimpleSensorSimulator.md - SimulationResultFormat.md - SystemArchitecture.md diff --git a/docs/developer_guide/Parameters.md b/docs/developer_guide/Parameters.md new file mode 100644 index 00000000000..525bed28085 --- /dev/null +++ b/docs/developer_guide/Parameters.md @@ -0,0 +1,439 @@ +# Parameters + +This section describes how to configure the topics that `scenario_simulator_v2` +publishes to Autoware. + +## Overview + +The topics that `scenario_simulator_v2` publishes to Autoware are configurable +from the ROS 2 parameter file given to the launch argument +`parameter_file_path` of scenario_test_runner. The default value of +`parameter_file_path` is the path to [a sample parameter +file](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/config/parameters.yaml). + +All parameters that can be specified and their default values are shown in the +sample parameter file. In practice, it is not necessary to specify all +parameters except for some that are mandatory. In that case, the simulator will +behave as if similar default values had been specified. + +There are currently two ways to configure some topics: an old way and a new way +described on this page. The new way is backward compatible and is the +recommended way. If you want to know how to use the old way, [see this +page](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/ConfiguringPerceptionTopics/). + +## /perception/object_recognition/detection/objects + +### `version` + +An `int` type value in YYYYMMDD format, mandatory. +Suffix of `scenario_test_runner` launch argument `architecture_type`, used to +maintain backward compatibility of the simulator when changing the Autoware +interface. + +### `seed` + +A positive `int` type value, default `0`. +The seed value for the random number generator. If `0` is specified, a random +seed value will be generated for each run. + +### `override_legacy_configuration` + +A `boolean` type value, default `false`. +Some of the parameters described below can be configured in either the old or +new way. This parameter is used to determine which value to use. That is, as +long as this parameter is `false`, some of the following parameters will be +ignored and the values set by the old method will be used. If you want to +configure the new way, set it to `true`. For backward compatibility, the +default value of this parameter is `false`. + +### `delay` + +A positive `double` type value, default `0.0`. The unit is seconds. It is an +error if the value is negative. +Delays the publication of the topic by the specified number of seconds. This +parameter is used only if `override_legacy_configuration` is true. If it is +false, the value of `detectedObjectPublishingDelay` in +`ObjectController.Properties` in the scenario file is used. + +### `range` + +A positive `double` type value, default `300.0`. The unit is meters. +The sensor detection range. This parameter is used only if +`override_legacy_configuration` is true. If it is false, the value of +`detectionSensorRange` in `ObjectController.Properties` in the scenario file is +used. + +### `occlusionless` + +A `boolean` type value, default `false`. +The message is a simulated object recognition result based on a pointcloud. +Pointclouds are usually sensed by LiDAR, and scenario_simulator_v2 assumes this +and simulates it, including LiDAR occlusion. If this parameter is `true`, +object recognition is simulated as if there is no occlusion. In other words, it +produces recognition results as if objects behind the object are also visible +(even though they are in shadow and invisible in normal LiDAR). This parameter +is used only if `override_legacy_configuration` is true. If it is false, the +value of `isClairvoyant` in `ObjectController.Properties` in the scenario file +is used. + +### `noise.model.version` + +A positive `int` type value, default `1`. If a non-existent version is +specified, it is an error. +This parameter specifies the version of the noise model to be used. Currently, +the following two noise models are implemented: +- version: 1 - Simple noise model with position randomization +- version: 2 - Elliptically approximated model of noise variation with distance + from the ego entity + +The parameters specific to the models are placed under `noise.v1.` and +`noise.v2`, respectively. + +### `noise.v1.position.standard_deviation` + +A positive `double` type value, default `0.0`. +Standard deviation used for randomization of the position of the vehicle in the +message. This parameter is used only if the value of `noise.model.version` is +`1`. + +### `noise.v1.missing_probability` + +A `double` type value between `0.0` and `1.0`, default `0.0`. +Based on the probability specified by the value of this parameter, random +vehicle data is removed from the message. This parameter is used only if the +value of `noise.model.version` is `1`. + +### `noise.v2.ellipse_y_radii` + +Array of positive double type values, default `[10.0, 20.0, 40.0, 60.0, 80.0, +120.0, 150.0, 180.0, 1000.0]`. Units are in meters. The size of the array is +arbitrary, but must be the same size as the array described later. +This parameter is used only if the value of `noise.model.version` is `2`. + +### `noise.v2.distance.autocorrelation_coefficient.amplitude` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of +distance noise. The autocorrelation coefficient $\phi$ is calculated by the +following equation: $$\phi(\varDelta t) = \mathtt{amplitude} * +\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the +time series as AR(1) model. The autocorrelation coefficient $\phi$ is used in +the model to calculate the position noise $X_\mathrm{distance}$: as follows: +$$X_\mathrm{distance}(t) = \mathtt{mean} + \phi * (X_\mathrm{distance}(t-1) - +\mathtt{mean}) + \mathcal{N}(0, 1 - \phi^2) * \mathtt{standard\_deviation}$$ +This parameter is used only if the value of `noise.model.version` is `2`. + +### `noise.v2.distance.autocorrelation_coefficient.decay` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of +distance noise. The autocorrelation coefficient $\phi$ is calculated by the +following equation: $$\phi(\varDelta t) = \mathtt{amplitude} * +\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the +time series as AR(1) model. The autocorrelation coefficient $\phi$ is used in +the model to calculate the position noise $X_\mathrm{distance}$: as follows: +$$X_\mathrm{distance}(t) = \mathtt{mean} + \phi * (X_\mathrm{distance}(t - +\varDelta t) - \mathtt{mean}) + \mathcal{N}(0, 1 - \phi^2) * +\mathtt{standard\_deviation}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.distance.autocorrelation_coefficient.offset` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of +distance noise. The autocorrelation coefficient $\phi$ is calculated by the +following equation: $$\phi(\varDelta t) = \mathtt{amplitude} * +\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the +time series as AR(1) model. The autocorrelation coefficient $\phi$ is used in +the model to calculate the position noise $X_\mathrm{distance}$: as follows: +$$X_\mathrm{distance}(t) = \mathtt{mean} + \phi * (X_\mathrm{distance}(t - +\varDelta t) - \mathtt{mean}) + \mathcal{N}(0, 1 - \phi^2) * +\mathtt{standard\_deviation}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.distance.mean.ellipse_normalized_x_radius` + +A positive `double` type value, default `0.0`. +The noise models the space as an elliptical model. This parameter is the ratio +of the radius of the x-axis to the radius of the y-axis of that ellipse. The +coordinate system is a right-handed local coordinate system, where the x-axis +is the longitudinal direction of the ego entity and the y-axis is its lateral +direction. The value of this parameter is used to calculate the distance $d$ +between the ego entity and the other vehicle using the following equation: $$d += \sqrt[2]{(\varDelta x / \mathtt{ellipse\_normalized\_x\_radius})^2 + +\varDelta y^2}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.distance.mean.values` + +Array of positive double type values, default `[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, +0.0, 0.0, 0.0]`. +Each element of the array is a mean of normal distribution. The first element +with a value greater than $d$ is searched from `ellipse_y_radii` and the +elements with the same index are referenced from `values`. Therefore, the array +size of this parameter must be the same as `ellipse_y_radii`. Otherwise, it is +an error. This parameter is used only if the value of `noise.model.version` is +`2`. + +### `noise.v2.distance.standard_deviation.ellipse_normalized_x_radius` + +A positive `double` type value, default `0.0`. +The noise models the space as an elliptical model. This parameter is the ratio +of the radius of the x-axis to the radius of the y-axis of that ellipse. The +coordinate system is a right-handed local coordinate system, where the x-axis +is the longitudinal direction of the ego entity and the y-axis is its lateral +direction. The value of this parameter is used to calculate the distance $d$ +between the ego entity and the other vehicle using the following equation: $$d += \sqrt[2]{(\varDelta x / \mathtt{ellipse\_normalized\_x\_radius})^2 + +\varDelta y^2}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.distance.standard_deviation.values` + +Array of positive double type values, default `[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, +0.0, 0.0, 0.0]`. +Each element of the array is a standard deviation of normal distribution. The +first element with a value greater than $d$ is searched from `ellipse_y_radii` +and the elements with the same index are referenced from `values`. Therefore, +the array size of this parameter must be the same as `ellipse_y_radii`. +Otherwise, it is an error. This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.yaw.autocorrelation_coefficient.amplitude` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of yaw +noise. The autocorrelation coefficient $\phi$ is calculated by the following +equation: $$ \phi(\varDelta t) = \mathtt{amplitude} * \exp(-\mathtt{decay} * +\varDelta t) + \mathtt{offset}$$ The noise models the time series as AR(1) +model. The autocorrelation coefficient $\phi$ is used in the model to calculate +the yaw noise $X_\mathrm{yaw}$: as follows: $$ X_\mathrm{yaw}(t) = +\mathtt{mean} + \phi * (X_\mathrm{yaw}(t - \varDelta t) - \mathtt{mean}) + +\mathcal{N}(0, 1 - \phi^2) * \mathtt{standard\_deviation}$$ This parameter is +used only if the value of `noise.model.version` is `2`. + +### `noise.v2.yaw.autocorrelation_coefficient.decay` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of yaw +noise. The autocorrelation coefficient $\phi$ is calculated by the following +equation: $$ \phi(\varDelta t) = \mathtt{amplitude} * \exp(-\mathtt{decay} * +\varDelta t) + \mathtt{offset}$$ The noise models the time series as AR(1) +model. The autocorrelation coefficient $\phi$ is used in the model to calculate +the yaw noise $X_\mathrm{yaw}$: as follows: $$ X_\mathrm{yaw}(t) = +\mathtt{mean} + \phi * (X_\mathrm{yaw}(t - \varDelta t) - \mathtt{mean}) + +\mathcal{N}(0, 1 - \phi^2) * \mathtt{standard\_deviation}$$ This parameter is +used only if the value of `noise.model.version` is `2`. + +### `noise.v2.yaw.autocorrelation_coefficient.offset` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of yaw +noise. The autocorrelation coefficient $\phi$ is calculated by the following +equation: $$ \phi(\varDelta t) = \mathtt{amplitude} * \exp(-\mathtt{decay} * +\varDelta t) + \mathtt{offset}$$ The noise models the time series as AR(1) +model. The autocorrelation coefficient $\phi$ is used in the model to calculate +the yaw noise $X_\mathrm{yaw}$: as follows: $$ X_\mathrm{yaw}(t) = +\mathtt{mean} + \phi * (X_\mathrm{yaw}(t - \varDelta t) - \mathtt{mean}) + +\mathcal{N}(0, 1 - \phi^2) * \mathtt{standard\_deviation}$$ This parameter is +used only if the value of `noise.model.version` is `2`. + +### `noise.v2.yaw.mean.ellipse_normalized_x_radius` + +A positive `double` type value, default `0.0`. +The noise models the space as an elliptical model. This parameter is the ratio +of the radius of the x-axis to the radius of the y-axis of that ellipse. The +coordinate system is a right-handed local coordinate system, where the x-axis +is the longitudinal direction of the ego entity and the y-axis is its lateral +direction. The value of this parameter is used to calculate the distance $d$ +between the ego entity and the other vehicle using the following equation: $$d += \sqrt[2]{(\varDelta x / \mathtt{ellipse\_normalized\_x\_radius})^2 + +\varDelta y^2}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.yaw.mean.values` + +Array of positive double type values, default `[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, +0.0, 0.0, 0.0]`. +Each element of the array is a mean of normal distribution. The first element +with a value greater than $d$ is searched from `ellipse_y_radii` and the +elements with the same index are referenced from `values`. Therefore, the array +size of this parameter must be the same as `ellipse_y_radii`. Otherwise, it is +an error. This parameter is used only if the value of `noise.model.version` is +`2`. + +### `noise.v2.yaw.standard_deviation.ellipse_normalized_x_radius` + +A positive `double` type value, default `0.0`. +The noise models the space as an elliptical model. This parameter is the ratio +of the radius of the x-axis to the radius of the y-axis of that ellipse. The +coordinate system is a right-handed local coordinate system, where the x-axis +is the longitudinal direction of the ego entity and the y-axis is its lateral +direction. The value of this parameter is used to calculate the distance $d$ +between the ego entity and the other vehicle using the following equation: $$d += \sqrt[2]{(\varDelta x / \mathtt{ellipse\_normalized\_x\_radius})^2 + +\varDelta y^2}$$. This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.yaw.standard_deviation.values` + +Array of positive double type values, default `[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, +0.0, 0.0, 0.0]`. +Each element of the array is a standard deviation of normal distribution. The +first element with a value greater than $d$ is searched from `ellipse_y_radii` +and the elements with the same index are referenced from `values`. Therefore, +the array size of this parameter must be the same as `ellipse_y_radii`. +Otherwise, it is an error. This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.yaw_flip.autocorrelation_coefficient.amplitude` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of +yaw-flip noise. The autocorrelation coefficient $\phi$ is calculated by the +following equation: $$\phi(\varDelta t) = \mathtt{amplitude} * +\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the +time series as Markov process. The autocorrelation coefficient $\phi$ is used +in the model to calculate the yaw-flip noise with following transition matrix: +$$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix} = +\begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) && +\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.yaw_flip.autocorrelation_coefficient.decay` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of +yaw-flip noise. The autocorrelation coefficient $\phi$ is calculated by the +following equation: $$\phi(\varDelta t) = \mathtt{amplitude} * +\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the +time series as Markov process. The autocorrelation coefficient $\phi$ is used +in the model to calculate the yaw-flip noise with following transition matrix: +$$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix} = +\begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) && +\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.yaw_flip.autocorrelation_coefficient.offset` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of +yaw-flip noise. The autocorrelation coefficient $\phi$ is calculated by the +following equation: $$\phi(\varDelta t) = \mathtt{amplitude} * +\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the +time series as Markov process. The autocorrelation coefficient $\phi$ is used +in the model to calculate the yaw-flip noise with following transition matrix: +$$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix} = +\begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) && +\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.yaw_flip.speed_threshold` + +A positive `double` type value, default `0.1`. +When the absolute speed of one other vehicle is less than the value of this +parameter, it is determined whether yaw-flip occurs or not based on the `rate` +described below. This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.yaw_flip.rate` + +A positive `double` type value, default `0.0`. +Vehicles whose absolute speed is below the aforementioned `speed_threshold` +will have yaw-flip noise applied with the probability of the value of this +parameter. This parameter is used only if the value of `noise.model.version` is +`2`. + +### `noise.v2.true_positive.autocorrelation_coefficient.amplitude` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of +random-mask noise. The autocorrelation coefficient $\phi$ is calculated by the +following equation: $$\phi(\varDelta t) = \mathtt{amplitude} * +\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the +time series as Markov process. The autocorrelation coefficient $\phi$ is used +in the model to calculate the random-mask noise with following transition +matrix: $$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix} += \begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) && +\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.true_positive.autocorrelation_coefficient.decay` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of +random-mask noise. The autocorrelation coefficient $\phi$ is calculated by the +following equation: $$\phi(\varDelta t) = \mathtt{amplitude} * +\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the +time series as Markov process. The autocorrelation coefficient $\phi$ is used +in the model to calculate the random-mask noise with following transition +matrix: $$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix} += \begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) && +\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.true_positive.autocorrelation_coefficient.offset` + +A positive `double` type value, default `0.0`. +The parameter of the autocorrelation coefficient used in the generation of +random-mask noise. The autocorrelation coefficient $\phi$ is calculated by the +following equation: $$\phi(\varDelta t) = \mathtt{amplitude} * +\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the +time series as Markov process. The autocorrelation coefficient $\phi$ is used +in the model to calculate the random-mask noise with following transition +matrix: $$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix} += \begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) && +\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.true_positive.rate.ellipse_normalized_x_radius` + +A positive `double` type value, default `0.0`. +The noise models the space as an elliptical model. This parameter is the ratio +of the radius of the x-axis to the radius of the y-axis of that ellipse. The +coordinate system is a right-handed local coordinate system, where the x-axis +is the longitudinal direction of the ego entity and the y-axis is its lateral +direction. The value of this parameter is used to calculate the distance $d$ +between the ego entity and the other vehicle using the following equation: $$d += \sqrt[2]{(\varDelta x / \mathtt{ellipse\_normalized\_x\_radius})^2 + +\varDelta y^2}$$. This parameter is used only if the value of +`noise.model.version` is `2`. + +### `noise.v2.true_positive.rate.values` + +Array of positive double type values, default `[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, +1.0, 1.0, 1.0]`. +Each element of this array is the probability that the value will be output +correctly (true positive rate). The first element with a value greater than $d$ +is searched from `ellipse_y_radii` and the elements with the same index are +referenced from `values`. Therefore, the array size of this parameter must be +the same as `ellipse_y_radii`. Otherwise, it is an error. This parameter is +used only if the value of `noise.model.version` is `2`. + +## /perception/object_recognition/ground_truth/objects + +### `version` + +An `int` type value in YYYYMMDD format, mandatory. +Suffix of `scenario_test_runner` launch argument `architecture_type`, used to +maintain backward compatibility of the simulator when changing the Autoware +interface. + +### `override_legacy_configuration` + +A `boolean` type value, default `false`. +Some of the parameters described below can be configured in either the old or +new way. This parameter is used to determine which value to use. That is, as +long as this parameter is `false`, some of the following parameters will be +ignored and the values set by the old method will be used. If you want to +configure the new way, set it to `true`. For backward compatibility, the +default value of this parameter is `false`. + +### `delay` + +A positive `double` type value, default `0.0`. The unit is seconds. It is an +error if the value is negative. +Delays the publication of the topic by the specified number of seconds. This +parameter is used only if `override_legacy_configuration` is true. If it is +false, the value of `detectedObjectGroundTruthPublishingDelay` in +`ObjectController.Properties` in the scenario file is used. diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp index 159bf279da0..29027e670ad 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp @@ -142,9 +142,9 @@ class DetectionSensor : public DetectionSensorBase static const auto override_legacy_configuration = concealer::getParameter( detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration")); if (override_legacy_configuration) { - static const auto clairvoyant = concealer::getParameter( - detected_objects_publisher->get_topic_name() + std::string(".clairvoyant")); - return clairvoyant; + static const auto occlusionless = concealer::getParameter( + detected_objects_publisher->get_topic_name() + std::string(".occlusionless")); + return occlusionless; } else { return configuration_.detect_all_objects_in_range(); } diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 91633a3eb29..8b1b78666ae 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -396,10 +396,10 @@ auto DetectionSensor::update( | p_10 p_11 | == | p0 (1 - phi) p1 - phi * p0 | */ auto markov_process_noise = - [this](bool previous_noise, auto p1, auto autocorrelation_coefficient) { - const auto rate = (previous_noise ? 1.0 : 0.0) * autocorrelation_coefficient + - (1 - autocorrelation_coefficient) * p1; - return std::uniform_real_distribution()(random_engine_) < rate; + [this](bool previous_noise, auto rate, auto autocorrelation_coefficient) { + return std::uniform_real_distribution()(random_engine_) < + (previous_noise ? 1.0 : 0.0) * autocorrelation_coefficient + + (1 - autocorrelation_coefficient) * rate; }; /* diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 82a608efea8..67ac7f9da3b 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -131,16 +131,16 @@ simulation: version: 20240605 # architecture_type suffix (mandatory) seed: 0 # If 0 is specified, a random seed value will be generated for each run. override_legacy_configuration: false - delay: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPublishingDelay` in `ObjectController.Properties` in the scenario file is used. - range: 300.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectionSensorRange` in `ObjectController.Properties` in the scenario file is used. - clairvoyant: false # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `isClairvoyant` in `ObjectController.Properties` in the scenario file is used. + delay: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPublishingDelay` in `ObjectController.Properties` in the scenario file is used. + range: 300.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectionSensorRange` in `ObjectController.Properties` in the scenario file is used. + occlusionless: false # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `isClairvoyant` in `ObjectController.Properties` in the scenario file is used. noise: model: version: 1 # Any of [1, 2]. v1: # This clause is used only if `model.version` is 1. position: - standard_deviation: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPositionStandardDeviation` in `ObjectController.Properties` in the scenario file is used. - missing_probability: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectMissingProbability` in `ObjectController.Properties` in the scenario file is used. + standard_deviation: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPositionStandardDeviation` in `ObjectController.Properties` in the scenario file is used. + missing_probability: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectMissingProbability` in `ObjectController.Properties` in the scenario file is used. v2: # This clause is used only if `model.version` is 2. ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] distance: @@ -183,4 +183,4 @@ simulation: /perception/object_recognition/ground_truth/objects: version: 20240605 # architecture_type suffix (mandatory) override_legacy_configuration: false - delay: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectGroundTruthPublishingDelay` in `ObjectController.Properties` in the scenario file is used. + delay: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectGroundTruthPublishingDelay` in `ObjectController.Properties` in the scenario file is used. From 78da8be00b83ad80412ceea1f923f667a9ff4ac3 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Fri, 28 Feb 2025 15:44:27 +0900 Subject: [PATCH 72/77] Add some comments for cspell to ignore false-positive warnings Signed-off-by: yamacir-kit --- docs/developer_guide/Parameters.md | 3 +++ .../sensor_simulation/detection_sensor/detection_sensor.hpp | 1 + test_runner/scenario_test_runner/config/parameters.yaml | 2 ++ 3 files changed, 6 insertions(+) diff --git a/docs/developer_guide/Parameters.md b/docs/developer_guide/Parameters.md index 525bed28085..a991a793294 100644 --- a/docs/developer_guide/Parameters.md +++ b/docs/developer_guide/Parameters.md @@ -3,6 +3,9 @@ This section describes how to configure the topics that `scenario_simulator_v2` publishes to Autoware. + + + ## Overview The topics that `scenario_simulator_v2` publishes to Autoware are configurable diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp index 29027e670ad..819514bff8f 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp @@ -139,6 +139,7 @@ class DetectionSensor : public DetectionSensorBase auto detect_all_objects_in_range() const { + // cspell: ignore occlusionless static const auto override_legacy_configuration = concealer::getParameter( detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration")); if (override_legacy_configuration) { diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 67ac7f9da3b..6a6c4f40a3e 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -1,3 +1,5 @@ +# cspell: ignore occlusionless + simulation: AutowareUniverse: ros__parameters: From 63abd17358462f51e90940bb7ce55be5d456497e Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 3 Mar 2025 11:26:18 +0900 Subject: [PATCH 73/77] fix: add missing ")" and structured output --- simulation/traffic_simulator/src/helper/ostream_helpers.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/src/helper/ostream_helpers.cpp b/simulation/traffic_simulator/src/helper/ostream_helpers.cpp index 891699327b5..c98269dfa0c 100644 --- a/simulation/traffic_simulator/src/helper/ostream_helpers.cpp +++ b/simulation/traffic_simulator/src/helper/ostream_helpers.cpp @@ -38,7 +38,10 @@ std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Quaternio std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Pose & pose) { - os << "Pose(position: " << pose.position << ", orientation: " << pose.orientation; + os << "Pose(\n"; + os << " position: " << pose.position << "\n"; + os << " orientation: " << pose.orientation << "\n"; + os << ")"; return os; } From 387fc41600de4071e35c4151348c1ec422191c3e Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Mon, 3 Mar 2025 12:00:36 +0900 Subject: [PATCH 74/77] Update the parameter file to read from any named node Signed-off-by: yamacir-kit --- .../config/parameters.yaml | 367 +++++++++--------- 1 file changed, 183 insertions(+), 184 deletions(-) diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml index 6a6c4f40a3e..f05412ce17d 100644 --- a/test_runner/scenario_test_runner/config/parameters.yaml +++ b/test_runner/scenario_test_runner/config/parameters.yaml @@ -1,188 +1,187 @@ # cspell: ignore occlusionless -simulation: - AutowareUniverse: - ros__parameters: - /localization/kinematic_state: - version: 20240605 # architecture_type suffix (mandatory) - seed: 0 # If 0 is specified, a random seed value will be generated for each run. - nav_msgs::msg::Odometry: +/**: + ros__parameters: + /localization/kinematic_state: + version: 20240605 # architecture_type suffix (mandatory) + seed: 0 # If 0 is specified, a random seed value will be generated for each run. + nav_msgs::msg::Odometry: + pose: pose: - pose: - position: - # The data members of geometry_msgs::msg::Pose.position are x, - # y, z, which are world coordinates in - # `/localization/kinematic_state`. However, applying error to a - # position in world coordinates is unintuitive and tricky, so - # we accept the parameters as the entity's local coordinates. - # local_x, local_y, local_z express that. The simulator - # calculates the error in the local coordinates. It then - # transforms the error to the world coordinates, adds the error - # to the true position (world coordinates), and publishes it as - # `/localization/kinematic_state`. - local_x: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - local_y: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - local_z: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - orientation: - # The type of geometry_msgs::msg::Pose.orientation is - # Quaternion, and the actual orientation data members are x, y, - # z, and w. However, applying error to Quaternions can be - # unintuitive and tricky, so we accept the parameters as Euler - # angles here. The simulator internally converts Quaternion to - # Euler angles and applies the error to them. It then converts - # the error-applied Euler angles back to Quaternion and - # publishes them as `/localization/kinematic_state`. - r: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - p: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - y: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - twist: - twist: - linear: - x: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - y: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - z: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - angular: - x: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - y: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - z: - error: - additive: - mean: 0.0 - standard_deviation: 0.0 - multiplicative: - mean: 0.0 - standard_deviation: 0.0 - /perception/object_recognition/detection/objects: - version: 20240605 # architecture_type suffix (mandatory) - seed: 0 # If 0 is specified, a random seed value will be generated for each run. - override_legacy_configuration: false - delay: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPublishingDelay` in `ObjectController.Properties` in the scenario file is used. - range: 300.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectionSensorRange` in `ObjectController.Properties` in the scenario file is used. - occlusionless: false # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `isClairvoyant` in `ObjectController.Properties` in the scenario file is used. - noise: - model: - version: 1 # Any of [1, 2]. - v1: # This clause is used only if `model.version` is 1. position: - standard_deviation: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPositionStandardDeviation` in `ObjectController.Properties` in the scenario file is used. - missing_probability: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectMissingProbability` in `ObjectController.Properties` in the scenario file is used. - v2: # This clause is used only if `model.version` is 2. - ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] - distance: - autocorrelation_coefficient: - amplitude: 0.0 - decay: 0.0 - offset: 0.0 - mean: - ellipse_normalized_x_radius: 1.0 - values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - standard_deviation: - ellipse_normalized_x_radius: 1.0 - values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - yaw: - autocorrelation_coefficient: - amplitude: 0.0 - decay: 0.0 - offset: 0.0 - mean: - ellipse_normalized_x_radius: 1.0 - values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - standard_deviation: - ellipse_normalized_x_radius: 1.0 - values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - yaw_flip: - autocorrelation_coefficient: - amplitude: 0.0 - decay: 0.0 - offset: 0.0 - speed_threshold: 0.1 - rate: 0.0 - true_positive: - autocorrelation_coefficient: - amplitude: 0.0 - decay: 0.0 - offset: 0.0 - rate: - ellipse_normalized_x_radius: 1.0 - values: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] - /perception/object_recognition/ground_truth/objects: - version: 20240605 # architecture_type suffix (mandatory) - override_legacy_configuration: false - delay: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectGroundTruthPublishingDelay` in `ObjectController.Properties` in the scenario file is used. + # The data members of geometry_msgs::msg::Pose.position are x, y, + # z, which are world coordinates in + # `/localization/kinematic_state`. However, applying error to a + # position in world coordinates is unintuitive and tricky, so we + # accept the parameters as the entity's local coordinates. + # local_x, local_y, local_z express that. The simulator + # calculates the error in the local coordinates. It then + # transforms the error to the world coordinates, adds the error + # to the true position (world coordinates), and publishes it as + # `/localization/kinematic_state`. + local_x: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + local_y: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + local_z: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + orientation: + # The type of geometry_msgs::msg::Pose.orientation is Quaternion, + # and the actual orientation data members are x, y, z, and w. + # However, applying error to Quaternions can be unintuitive and + # tricky, so we accept the parameters as Euler angles here. The + # simulator internally converts Quaternion to Euler angles and + # applies the error to them. It then converts the error-applied + # Euler angles back to Quaternion and publishes them as + # `/localization/kinematic_state`. + r: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + p: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + y: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + twist: + twist: + linear: + x: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + y: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + z: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + angular: + x: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + y: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + z: + error: + additive: + mean: 0.0 + standard_deviation: 0.0 + multiplicative: + mean: 0.0 + standard_deviation: 0.0 + /perception/object_recognition/detection/objects: + version: 20240605 # architecture_type suffix (mandatory) + seed: 0 # If 0 is specified, a random seed value will be generated for each run. + override_legacy_configuration: false + delay: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPublishingDelay` in `ObjectController.Properties` in the scenario file is used. + range: 300.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectionSensorRange` in `ObjectController.Properties` in the scenario file is used. + occlusionless: false # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `isClairvoyant` in `ObjectController.Properties` in the scenario file is used. + noise: + model: + version: 1 # Any of [1, 2]. + v1: # This clause is used only if `model.version` is 1. + position: + standard_deviation: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPositionStandardDeviation` in `ObjectController.Properties` in the scenario file is used. + missing_probability: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectMissingProbability` in `ObjectController.Properties` in the scenario file is used. + v2: # This clause is used only if `model.version` is 2. + ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0] + distance: + autocorrelation_coefficient: + amplitude: 0.0 + decay: 0.0 + offset: 0.0 + mean: + ellipse_normalized_x_radius: 1.0 + values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + standard_deviation: + ellipse_normalized_x_radius: 1.0 + values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + yaw: + autocorrelation_coefficient: + amplitude: 0.0 + decay: 0.0 + offset: 0.0 + mean: + ellipse_normalized_x_radius: 1.0 + values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + standard_deviation: + ellipse_normalized_x_radius: 1.0 + values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + yaw_flip: + autocorrelation_coefficient: + amplitude: 0.0 + decay: 0.0 + offset: 0.0 + speed_threshold: 0.1 + rate: 0.0 + true_positive: + autocorrelation_coefficient: + amplitude: 0.0 + decay: 0.0 + offset: 0.0 + rate: + ellipse_normalized_x_radius: 1.0 + values: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] + /perception/object_recognition/ground_truth/objects: + version: 20240605 # architecture_type suffix (mandatory) + override_legacy_configuration: false + delay: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectGroundTruthPublishingDelay` in `ObjectController.Properties` in the scenario file is used. From 8f919211d80108260e452ce92875942ef9b9c00c Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Mon, 3 Mar 2025 12:18:20 +0900 Subject: [PATCH 75/77] Lipsticks Signed-off-by: yamacir-kit --- external/concealer/include/concealer/get_parameter.hpp | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/external/concealer/include/concealer/get_parameter.hpp b/external/concealer/include/concealer/get_parameter.hpp index 6de1671e9a5..084bbee7460 100644 --- a/external/concealer/include/concealer/get_parameter.hpp +++ b/external/concealer/include/concealer/get_parameter.hpp @@ -35,15 +35,7 @@ auto getParameter( template auto getParameter(const std::string & name, T value = {}) { - /* - The parameter file should be - - : - : - ros__parameters: - ... - */ - static auto node = rclcpp::Node("AutowareUniverse", "simulation"); + static auto node = rclcpp::Node("getParameter", "simulation"); return getParameter(node.get_node_parameters_interface(), name, value); } } // namespace concealer From a9daadb0ee59626c0201c2e6b1e277385f4aae89 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Tue, 4 Mar 2025 04:07:19 +0000 Subject: [PATCH 76/77] Bump version of scenario_simulator_v2 from version 12.0.1 to version 12.0.2 --- common/math/arithmetic/CHANGELOG.rst | 5 +++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 5 +++++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 5 +++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 5 +++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 5 +++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 5 +++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 5 +++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 5 +++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 5 +++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 5 +++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 5 +++++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 5 +++++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 5 +++++ .../openscenario_interpreter_example/package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 5 +++++ .../openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 5 +++++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 5 +++++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 5 +++++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 5 +++++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 5 +++++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 5 +++++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 5 +++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 5 +++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 5 +++++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 5 +++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 5 +++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 11 +++++++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 5 +++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 5 +++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 5 +++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 180 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 7e66aa46011..9764b3c32a7 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 2e97e8bfad5..65a641d15c5 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 12.0.1 + 12.0.2 arithmetic library for scenario_simulator_v2 Tatsuya Yamasaki Apache License 2.0 diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst index 51f0d8d2610..af22525a9b6 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 233d660a12e..7ae297ca074 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 12.0.1 + 12.0.2 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 25e73b077ab..4645282af5c 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 95d7a38d831..19917a047f3 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 12.0.1 + 12.0.2 Exception types for scenario simulator Tatsuya Yamasaki Apache License 2.0 diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst index 046da829943..0e3224ef7d4 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index ee8b40dc839..923ec0225c9 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 12.0.1 + 12.0.2 Lightweight JUnit library for ROS 2 Masaya Kataoka Tatsuya Yamasaki diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst index d3f797a2954..ebab567dd43 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 79a0f0db14e..2c2b3b61829 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 12.0.1 + 12.0.2 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index c3ccaf86313..480a2b02bb3 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/external/concealer/package.xml b/external/concealer/package.xml index cc015a43299..3ab05ec4d59 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 12.0.1 + 12.0.2 Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator. Tatsuya Yamasaki Apache License 2.0 diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst index 1b70cde8809..5203aa30064 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,11 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 6293f3c9f30..4a6de6963a0 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 12.0.1 + 12.0.2 vendor packages for intel raytracing kernel library masaya Apache 2.0 diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst index e8112c7aa09..24a31fa789e 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 7cfbe8375bd..dccc7595ac6 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 12.0.1 + 12.0.2 map package for kashiwanoha Masaya Kataoka Apache License 2.0 diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst index df210e77fe4..56facff6170 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,11 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 7e3b4bc39e5..0faffca8ae2 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 12.0.1 + 12.0.2 map package for simple cross Masaya Kataoka Apache License 2.0 diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst index bd2b61d6784..88f0593f9b4 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index d62031e024a..c56bf70a733 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 12.0.1 + 12.0.2 C++ mock scenarios masaya Apache License 2.0 diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst index c5a03257cc1..1726742ff1d 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index defc8196b57..f2d877bba06 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 12.0.1 + 12.0.2 TIER IV experimental catalogs for OpenSCENARIO Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst index d5a0aae2a54..3a5a35c59d5 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,11 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 282985ecd18..0df806a7367 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 12.0.1 + 12.0.2 OpenSCENARIO 1.2.0 interpreter package for Autoware Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst index 0c9de69d264..462248cd244 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index cfbafa41e58..0413336016f 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 12.0.1 + 12.0.2 Examples for some TIER IV OpenSCENARIO Interpreter's features Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst index c870f5a68f7..b090044e88a 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index c7f8a065fe3..472b8320331 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 12.0.1 + 12.0.2 ROS message types for package openscenario_interpreter Yamasaki Tatsuya Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst index 58fd1e64962..05a473106f4 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 6a29b690cf3..98b565abc4c 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 12.0.1 + 12.0.2 Example package for TIER IV OpenSCENARIO Interpreter Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst index deb6b208998..c790f587190 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 7d1f84622ef..24da7f18f2f 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 12.0.1 + 12.0.2 ROS message types for package openscenario_preprocessor Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_utility/CHANGELOG.rst b/openscenario/openscenario_utility/CHANGELOG.rst index 9cd0687e804..35106cabd2a 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,11 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 874b2d7589a..7587b794b07 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 12.0.1 + 12.0.2 Utility tools for ASAM OpenSCENARIO 1.2.0 Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_validator/CHANGELOG.rst b/openscenario/openscenario_validator/CHANGELOG.rst index 4fcef3c52f7..b5d3e248204 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,11 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 58773de8e68..d5270cb60da 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 12.0.1 + 12.0.2 Validator for OpenSCENARIO 1.3 Kotaro Yoshimoto Apache License 2.0 diff --git a/rviz_plugins/openscenario_visualization/CHANGELOG.rst b/rviz_plugins/openscenario_visualization/CHANGELOG.rst index 838acbf782b..33b10fbba71 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 1fcc732b15d..eab0be90c04 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 12.0.1 + 12.0.2 Visualization tools for simulation results Masaya Kataoka Kyoichi Sugahara diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst index 53f2eb95272..6cc0f690ab5 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml index f1c209e2ca8..45c63365893 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml @@ -2,7 +2,7 @@ real_time_factor_control_rviz_plugin - 12.0.1 + 12.0.2 Slider controlling real time factor value. Paweł Lech Apache License 2.0 diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst index 131991c8dff..0697be81bf3 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 0d66270c993..fa8f2f7c96a 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 12.0.1 + 12.0.2 scenario testing framework for Autoware Masaya Kataoka Apache License 2.0 diff --git a/simulation/behavior_tree_plugin/CHANGELOG.rst b/simulation/behavior_tree_plugin/CHANGELOG.rst index 930e00c9d8b..d8b1f27904f 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index c9fd414c4c9..ce904be766b 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 12.0.1 + 12.0.2 Behavior tree plugin for traffic_simulator masaya Apache 2.0 diff --git a/simulation/do_nothing_plugin/CHANGELOG.rst b/simulation/do_nothing_plugin/CHANGELOG.rst index 420ffb4566e..16e1f2d3d85 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 2deaf24566c..7e93d1f6677 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 12.0.1 + 12.0.2 Behavior plugin for do nothing Masaya Kataoka Apache 2.0 diff --git a/simulation/simple_sensor_simulator/CHANGELOG.rst b/simulation/simple_sensor_simulator/CHANGELOG.rst index 12e6ebee5af..c4664a79319 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 70872f05696..448157f1855 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 12.0.1 + 12.0.2 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 2f87294185e..89226ff59ff 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index dd6d1a1e3c3..062f70fb04c 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 12.0.1 + 12.0.2 packages to define interface between simulator and scenario interpreter Masaya Kataoka Apache License 2.0 diff --git a/simulation/traffic_simulator/CHANGELOG.rst b/simulation/traffic_simulator/CHANGELOG.rst index 720605d3ed9..c4dcbf6e10b 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,17 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge pull request `#1539 `_ from tier4/RJD-1057/reorgnize-ostream-helper + RJD-1057: Reorganize ostream operators +* fix: add missing ")" and structured output +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Update ostream helper + Co-authored-by: Dawid Moszynski + Co-authored-by: Mateusz Palczuk +* Contributors: Kotaro Yoshimoto, f0reachARR, ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 8daee7f6b62..b18817b8e97 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 12.0.1 + 12.0.2 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 97cf8cd1a27..c7905537fc8 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 9215e1e7285..b9f988f0fc0 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 12.0.1 + 12.0.2 ROS messages for openscenario Masaya Kataoka Apache License 2.0 diff --git a/test_runner/random_test_runner/CHANGELOG.rst b/test_runner/random_test_runner/CHANGELOG.rst index 45471b8b535..5fe9c390cd1 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 37b0413178f..525704a3b88 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 12.0.1 + 12.0.2 Random behavior test runner piotr-zyskowski-rai Apache License 2.0 diff --git a/test_runner/scenario_test_runner/CHANGELOG.rst b/test_runner/scenario_test_runner/CHANGELOG.rst index e515d6bc917..2ddc551b1a9 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,11 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.0.2 (2025-03-04) +------------------- +* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper +* Contributors: ぐるぐる + 12.0.1 (2025-02-26) ------------------- * Merge branch 'master' into feature/push-latest-docker-tag diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 3cf50835294..68ec1e592f7 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 12.0.1 + 12.0.2 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From ccf393a82c021efc8af4a1fc31a155d128622f8f Mon Sep 17 00:00:00 2001 From: Release Bot Date: Wed, 5 Mar 2025 02:09:19 +0000 Subject: [PATCH 77/77] Bump version of scenario_simulator_v2 from version 12.0.2 to version 12.1.0 --- common/math/arithmetic/CHANGELOG.rst | 7 +++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 7 +++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 7 +++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 7 +++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 11 ++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 7 +++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 7 +++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 7 +++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 7 +++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 7 +++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 7 +++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 7 +++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 7 +++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 7 +++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 7 +++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 7 +++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 7 +++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 7 +++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 28 +++++++++++++++++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 7 +++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 7 +++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 7 +++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 7 +++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 26 +++++++++++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 276 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 9764b3c32a7..001ec0ffd18 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 65a641d15c5..e13e5c38d9b 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 12.0.2 + 12.1.0 arithmetic library for scenario_simulator_v2 Tatsuya Yamasaki Apache License 2.0 diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst index af22525a9b6..d99e2319781 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 7ae297ca074..744f5220d4c 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 12.0.2 + 12.1.0 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 4645282af5c..52153494d03 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 19917a047f3..423355275c3 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 12.0.2 + 12.1.0 Exception types for scenario simulator Tatsuya Yamasaki Apache License 2.0 diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst index 0e3224ef7d4..40e67cde721 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 923ec0225c9..140566b0a28 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 12.0.2 + 12.1.0 Lightweight JUnit library for ROS 2 Masaya Kataoka Tatsuya Yamasaki diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst index ebab567dd43..f4d65db1bc1 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 2c2b3b61829..ee1246139f8 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 12.0.2 + 12.1.0 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 480a2b02bb3..b38170ca501 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,17 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge pull request `#1532 `_ from tier4/feature/simple_sensor_simulator/new-noise-model + Feature/simple sensor simulator/new noise model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Lipsticks +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Add parameters for new noise model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 3ab05ec4d59..0d33dc8d8ba 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 12.0.2 + 12.1.0 Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator. Tatsuya Yamasaki Apache License 2.0 diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst index 5203aa30064..14dbf93a44e 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,13 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 4a6de6963a0..91d42f027e2 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 12.0.2 + 12.1.0 vendor packages for intel raytracing kernel library masaya Apache 2.0 diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst index 24a31fa789e..684ded3eb95 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index dccc7595ac6..5dfc0d72559 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 12.0.2 + 12.1.0 map package for kashiwanoha Masaya Kataoka Apache License 2.0 diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst index 56facff6170..ea19396f0bb 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,13 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 0faffca8ae2..28a4fdedd07 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 12.0.2 + 12.1.0 map package for simple cross Masaya Kataoka Apache License 2.0 diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst index 88f0593f9b4..3c335a864eb 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index c56bf70a733..b3effaba173 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 12.0.2 + 12.1.0 C++ mock scenarios masaya Apache License 2.0 diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst index 1726742ff1d..f26be8395be 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index f2d877bba06..7f7fae52440 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 12.0.2 + 12.1.0 TIER IV experimental catalogs for OpenSCENARIO Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst index 3a5a35c59d5..97ee53e92f6 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,13 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 0df806a7367..661625c6509 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 12.0.2 + 12.1.0 OpenSCENARIO 1.2.0 interpreter package for Autoware Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst index 462248cd244..9a6c63d45a6 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 0413336016f..71ee14b47ba 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 12.0.2 + 12.1.0 Examples for some TIER IV OpenSCENARIO Interpreter's features Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst index b090044e88a..5c51927e866 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 472b8320331..fbcb3950bac 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 12.0.2 + 12.1.0 ROS message types for package openscenario_interpreter Yamasaki Tatsuya Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst index 05a473106f4..e94b227f6fd 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 98b565abc4c..9f7c121cb14 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 12.0.2 + 12.1.0 Example package for TIER IV OpenSCENARIO Interpreter Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst index c790f587190..c843912b138 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 24da7f18f2f..f31bf37f103 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 12.0.2 + 12.1.0 ROS message types for package openscenario_preprocessor Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_utility/CHANGELOG.rst b/openscenario/openscenario_utility/CHANGELOG.rst index 35106cabd2a..be11addc02f 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,13 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 7587b794b07..a6ff15e2467 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 12.0.2 + 12.1.0 Utility tools for ASAM OpenSCENARIO 1.2.0 Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_validator/CHANGELOG.rst b/openscenario/openscenario_validator/CHANGELOG.rst index b5d3e248204..9c4895c4ac7 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,13 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index d5270cb60da..d4b6b473b1d 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 12.0.2 + 12.1.0 Validator for OpenSCENARIO 1.3 Kotaro Yoshimoto Apache License 2.0 diff --git a/rviz_plugins/openscenario_visualization/CHANGELOG.rst b/rviz_plugins/openscenario_visualization/CHANGELOG.rst index 33b10fbba71..8c1c2d1356f 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index eab0be90c04..1a978528501 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 12.0.2 + 12.1.0 Visualization tools for simulation results Masaya Kataoka Kyoichi Sugahara diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst index 6cc0f690ab5..649ee79adda 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml index 45c63365893..16fa6beab23 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml @@ -2,7 +2,7 @@ real_time_factor_control_rviz_plugin - 12.0.2 + 12.1.0 Slider controlling real time factor value. Paweł Lech Apache License 2.0 diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst index 0697be81bf3..e4ea61ad045 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index fa8f2f7c96a..00ca53a9632 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 12.0.2 + 12.1.0 scenario testing framework for Autoware Masaya Kataoka Apache License 2.0 diff --git a/simulation/behavior_tree_plugin/CHANGELOG.rst b/simulation/behavior_tree_plugin/CHANGELOG.rst index d8b1f27904f..93d1d1d7bd6 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index ce904be766b..6b88c56d2f9 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 12.0.2 + 12.1.0 Behavior tree plugin for traffic_simulator masaya Apache 2.0 diff --git a/simulation/do_nothing_plugin/CHANGELOG.rst b/simulation/do_nothing_plugin/CHANGELOG.rst index 16e1f2d3d85..790d15c3633 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 7e93d1f6677..0c0af76af87 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 12.0.2 + 12.1.0 Behavior plugin for do nothing Masaya Kataoka Apache 2.0 diff --git a/simulation/simple_sensor_simulator/CHANGELOG.rst b/simulation/simple_sensor_simulator/CHANGELOG.rst index c4664a79319..0a02bec380a 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,34 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge pull request `#1532 `_ from tier4/feature/simple_sensor_simulator/new-noise-model + Feature/simple sensor simulator/new noise model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Add some comments for cspell to ignore false-positive warnings +* Add new document `Parameters.md` +* Cleanup parameter file +* Add parameters to maintain backward compatibility +* Update `DetectionSensor` to read seed from parameter file if model version is 2 +* Organize the parameter file structure to be more reasonable +* Rename parameter `phi` to `autocorrelation_coefficient` +* Rename parameter `tp` to `true_positive` +* Cleanup +* updated config, currected the modeling of bernoulli distribution noises to Markov process. + rename rho to phi + update description. +* Add array size check to local function `parameters` +* Update `DetectionSensor` to switch noise models according to parameter +* Add new local function `parameter` and `parameters` +* Add new parameter `ellipse_y_radiuses` +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Cleanup +* Add parameters for new noise model +* Add experimental noise model `noise_v2` +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, xtk8532704, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 448157f1855..1bc7c2b7934 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 12.0.2 + 12.1.0 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 89226ff59ff..0fe99f5b141 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 062f70fb04c..7098263d017 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 12.0.2 + 12.1.0 packages to define interface between simulator and scenario interpreter Masaya Kataoka Apache License 2.0 diff --git a/simulation/traffic_simulator/CHANGELOG.rst b/simulation/traffic_simulator/CHANGELOG.rst index c4dcbf6e10b..07534ad4957 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge pull request `#1539 `_ from tier4/RJD-1057/reorgnize-ostream-helper diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index b18817b8e97..cb6af4cfd98 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 12.0.2 + 12.1.0 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index c7905537fc8..4cd7fd58eb8 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index b9f988f0fc0..3998f67e463 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 12.0.2 + 12.1.0 ROS messages for openscenario Masaya Kataoka Apache License 2.0 diff --git a/test_runner/random_test_runner/CHANGELOG.rst b/test_runner/random_test_runner/CHANGELOG.rst index 5fe9c390cd1..babe4e344ba 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 525704a3b88..9421ae8fcbb 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 12.0.2 + 12.1.0 Random behavior test runner piotr-zyskowski-rai Apache License 2.0 diff --git a/test_runner/scenario_test_runner/CHANGELOG.rst b/test_runner/scenario_test_runner/CHANGELOG.rst index 2ddc551b1a9..51b3bcd6e6c 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,32 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +12.1.0 (2025-03-05) +------------------- +* Merge pull request `#1532 `_ from tier4/feature/simple_sensor_simulator/new-noise-model + Feature/simple sensor simulator/new noise model +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Update the parameter file to read from any named node +* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model +* Add some comments for cspell to ignore false-positive warnings +* Add new document `Parameters.md` +* Cleanup parameter file +* Add parameters to maintain backward compatibility +* Organize the parameter file structure to be more reasonable +* Rename parameter `phi` to `autocorrelation_coefficient` +* Rename parameter `tp` to `true_positive` +* Cleanup +* updated config, currected the modeling of bernoulli distribution noises to Markov process. + rename rho to phi + update description. +* Add array size check to local function `parameters` +* Update `DetectionSensor` to switch noise models according to parameter +* Add new local function `parameter` and `parameters` +* Add new parameter `ellipse_y_radiuses` +* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model +* Add parameters for new noise model +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, xtk8532704, yamacir-kit + 12.0.2 (2025-03-04) ------------------- * Merge branch 'master' into RJD-1057/reorgnize-ostream-helper diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 68ec1e592f7..9868fd53f5d 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 12.0.2 + 12.1.0 scenario test runner package Tatsuya Yamasaki Apache License 2.0