Merge branch 'autowarefoundation:main' into obstacle_stop_planner

autowarefoundation · Aug 2, 2024 · d1d2197 · d1d2197
2 parents 2945835 + 87df6ad
commit d1d2197
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Showing 103 changed files with 3,758 additions and 2,019 deletions.
diff --git a/...plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp b/...plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp
@@ -104,7 +104,7 @@ get_2d_shape_marker_ptr(
 AUTOWARE_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_label_marker_ptr(
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
-  const std::string label, const std_msgs::msg::ColorRGBA & color_rgba);
+  const std::string & label, const std_msgs::msg::ColorRGBA & color_rgba);
 
 AUTOWARE_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_existence_probability_marker_ptr(

diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp b/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp
@@ -459,7 +459,7 @@ visualization_msgs::msg::Marker::SharedPtr get_uuid_marker_ptr(
 
 visualization_msgs::msg::Marker::SharedPtr get_label_marker_ptr(
   const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
-  const std::string label, const std_msgs::msg::ColorRGBA & color_rgba)
+  const std::string & label, const std_msgs::msg::ColorRGBA & color_rgba)
 {
   auto marker_ptr = std::make_shared<Marker>();
   marker_ptr->type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;

diff --git a/control/autoware_autonomous_emergency_braking/CMakeLists.txt b/control/autoware_autonomous_emergency_braking/CMakeLists.txt
@@ -30,8 +30,11 @@ rclcpp_components_register_node(${AEB_NODE}
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
+  ament_add_ros_isolated_gtest(test_aeb
+  test/test.cpp)
+
+target_link_libraries(test_aeb ${AEB_NODE})
+
 endif()
 
 ament_auto_package(

diff --git a/control/autoware_autonomous_emergency_braking/README.md b/control/autoware_autonomous_emergency_braking/README.md
@@ -197,6 +197,7 @@ When vehicle odometry information is faulty, it is possible that the MPC fails t
 | use_predicted_trajectory          | [-]    | bool   | flag to use the predicted path from the control module                                                                                                                                          | true          |
 | use_imu_path                      | [-]    | bool   | flag to use the predicted path generated by sensor data                                                                                                                                         | true          |
 | use_object_velocity_calculation   | [-]    | bool   | flag to use the object velocity calculation. If set to false, object velocity is set to 0 [m/s]                                                                                                 | true          |
+| check_autoware_state              | [-]    | bool   | flag to enable or disable autoware state check. If set to false, the AEB module will run even when the ego vehicle is not in AUTONOMOUS state.                                                  | true          |
 | detection_range_min_height        | [m]    | double | minimum hight of detection range used for avoiding the ghost brake by false positive point clouds                                                                                               | 0.0           |
 | detection_range_max_height_margin | [m]    | double | margin for maximum hight of detection range used for avoiding the ghost brake by false positive point clouds. `detection_range_max_height = vehicle_height + detection_range_max_height_margin` | 0.0           |
 | voxel_grid_x                      | [m]    | double | down sampling parameters of x-axis for voxel grid filter                                                                                                                                        | 0.05          |

diff --git a/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml b/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml
@@ -6,6 +6,7 @@
     use_pointcloud_data: true
     use_predicted_object_data: true
     use_object_velocity_calculation: true
+    check_autoware_state: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1