6.2.5

Description

Abstract

fix caluculation for the gravity by slope in ego entity simulation

Background

This bug was introduced in #1447

Details

• use pitch-filled map pose for ego pitch calculation
• fix sign in caluculation of accelerlation_by_slope
• fix pitch caluculation in tests

The accelerlation_by_slope caluculation is was done as shown in the figure below and reflected in the code.

References

Regression Test: OK

Destructive Changes

Known Limitations

Related Issues

6.2.4

Description

Abstract

Added a static member function version of SpeedCondition::evaluate.

Background

The static version of SpeedCondition::evaluate is useful for implementing TimeToCollisionCondition, so we implemented it.

Details

None.

References

None.

Destructive Changes

None.

Known Limitations

None.

Related Issues

6.2.3

Description

Abstract

This PR includes modifications based on the results of static analysis performed by SonarCloud. Please refer to the SonarCloud reference for details on the issue fixes.

Background

N/A

Details

N/A

References

This PR has been split and submitted to avoid the issues that occurred in the following PR.

• #1455

Replace the redundant type with "auto".

• https://sonarcloud.io/project/issues?open=AZINWTKTjvEq9OQMnMEp&id=tier4_scenario_simulator_v2
• https://sonarcloud.io/project/issues?open=AZINWTKTjvEq9OQMnMEq&id=tier4_scenario_simulator_v2
• https://sonarcloud.io/project/issues?open=AZINWTKTjvEq9OQMnMEr&id=tier4_scenario_simulator_v2

implicit conversion loses floating-point precision: 'double' to 'const float'

• https://sonarcloud.io/project/issues?open=AZJS0wsGtJsnZH2iyX-F&id=tier4_scenario_simulator_v2
• https://sonarcloud.io/project/issues?open=AZJS0wsGtJsnZH2iyX-G&id=tier4_scenario_simulator_v2

Remove this redundant cast.

• https://sonarcloud.io/project/issues?open=AZINWTKTjvEq9OQMnMEt&id=tier4_scenario_simulator_v2

unused exception parameter 'e'

• https://sonarcloud.io/project/issues?open=AZINWTKTjvEq9OQMnMEn&id=tier4_scenario_simulator_v2

Destructive Changes

N/A

Known Limitations

N/A

Related Issues

6.2.2

Description

Abstract

Added a static member function version of DistanceCondition::evaluate.

Background

The static version of DistanceCondition::evaluate is useful for implementing TimeToCollisionCondition, so we implemented it.

Details

None.

References

None.

Destructive Changes

None.

Known Limitations

None.

Related Issues

6.2.1

Description

Abstract

Added a static member function version of RelativeDistanceCondition::evaluate.

Background

The static version of RelativeDistanceCondition::evaluate is useful for implementing TimeToCollisionCondition, so we implemented it.

Details

None.

References

None.

Destructive Changes

None.

Known Limitations

None.

Related Issues

6.2.0

Description

Abstract

This pull request adds support for OpenSCENARIO XML 1.3.1 RelativeSpeedCondition.

Background

RelativeSpeedCondition is required internally to implement TimeToCollisionCondition.

Details

None.

References

• Class RelativeSpeedCondition

Destructive Changes

None.

Known Limitations

None.

Related Issues

6.1.3

Description

Abstract

This pull request is a continuation of #1406.
It adds tests for the new implementation of the traffic lights.

After changes requested review in #1406 and other:
In order to make it possible to test the correctness of the generation the messages:

• autoware_auto_perception_msgs::msg::TrafficSignalArray
• autoware_perception_msgs::msg::TrafficSignalArray
• autoware_perception_msgs::msg::TrafficLightGroupArray
• traffic_simulator_msgs::msg::TrafficLightArrayV1

from simulation_api_schema::UpdateTrafficLightsRequest, new static method has been extracted:

https://github.com/tier4/scenario_simulator_v2/blob/e6bf7419dc26dc5448884d29969dffb0325a1c36/simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_light_publisher.hpp#L54-L56

In traffic_light_publisher.cpp can be found definitions of methods used in tests.

Background

This pull request is one of many that aim to modularize the scenario_simulator_v2.

Details

In the previous pull request, a new implementation of traffic lights has been added and tests developed for the previous implementation have been deleted.
This pull request introduces tests for the new implementation of traffic lights. These changes have been split into two PRs, because of the amount of changes. If these changes (this PR and the previous one) were introduced in one PR, it would have been very large (>2000 additions).

References

INTERNAL LINK

Destructive Changes

Known Limitations

Related Issues

6.1.2

Description

Abstract

The following minor changes were made to the interpreter code:

• The implementation of the file-local function hypot, which switches dimensions depending on the parameter considier_pose_by_road_slope (the same function was copied to multiple files), was made into a single free function.
• Old descriptions that remained in the documentation for the syntax Entities were deleted.

Background

None.

Details

None.

References

None.

Destructive Changes

None.

Known Limitations

None.

Related Issues

6.1.1

Description

Abstract

• Add + operator overloading to BT::PortList

Background

There were numerous warnings from sonar cloud around ports in behavior_tree_cpp_v3

Details

• Add + operator overloading to BT::PortList
• Simplify code of providedPorts() function.

References

https://sonarcloud.io/project/issues?open=AZJwAYwGlcZ2d3dSAT6K&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYvzlcZ2d3dSAT6E&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZINWTFejvEq9OQMnL98&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZINWTFejvEq9OQMnL99&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYwGlcZ2d3dSAT6J&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYv9lcZ2d3dSAT6G&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYuMlcZ2d3dSAT5t&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYt3lcZ2d3dSAT5k&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYudlcZ2d3dSAT5z&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYtulcZ2d3dSAT5h&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYuFlcZ2d3dSAT5q&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYt-lcZ2d3dSAT5n&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYuTlcZ2d3dSAT5w&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYuxlcZ2d3dSAT56&id=tier4_scenario_simulator_v2
https://sonarcloud.io/project/issues?open=AZJwAYunlcZ2d3dSAT53&id=tier4_scenario_simulator_v2

Destructive Changes

N/A

Known Limitations

N/A

Related Issues

6.1.0

Abstract

To set the road shoulder to the Entity's operating area, set VEHICLE_WITH_ROAD_SHOULDER routng graph added in #1456 as the default.

Background

Previously, road shoulder support in scenario_simulator_v2 consisted of various special measures and had some restrictions, such as not being able to change lanes onto the road shoulder.

Details

The added scenario allows you to see a vehicle entity change lanes onto the road shoulder.
Before the pull-request, this scenario would crash when the vehicle entity tried to change lanes.

simplescreenrecorder-2024-11-28_14.27.05.mp4

References

Regression Test: OK

Destructive Changes

The default routing graph has changed, so the behavior of entities in existing scenarios may change.

Normally, road shoulder lanelet are not set as following lanelet for normal road lanelets, so there is no need to worry even after the change unless the scenario creator explicitly causes entities to enter them.

Known Limitations

None

Related Issues