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feat(goal_planner): do not decelerate before path candidates generation #5412

Merged
merged 1 commit into from
Oct 26, 2023
Merged

feat(goal_planner): do not decelerate before path candidates generation #5412

merged 1 commit into from
Oct 26, 2023

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kosuke55
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@kosuke55 kosuke55 commented Oct 25, 2023 •
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Description

prevent decelerate before path candidates generation

image

after

gol_planner_decel-2023-10-25_22.00.35.mp4

Related links

https://tier4.atlassian.net/browse/RT1-4130

Tests performed

psim

evaluator_description: feat/decel
2023/10/25 https://evaluation.tier4.jp/evaluation/reports/15bdc237-bcbb-565e-aae6-8e5d88161709/?project_id=prd_jt

evaluator_description: feat/decel
2023/10/26 https://evaluation.tier4.jp/evaluation/reports/40c596aa-6cd3-5616-a036-6a5473ee6984/?project_id=prd_jt

Notes for reviewers

none

Interface changes

none

Effects on system behavior

none

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@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Oct 25, 2023
@kosuke55 kosuke55 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 25, 2023
kyoichi-sugahara
kyoichi-sugahara approved these changes Oct 25, 2023
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LGTM

@kosuke55
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I will fix

https://evaluation.tier4.jp/evaluation/reports/15bdc237-bcbb-565e-aae6-8e5d88161709/tests/9c20a2d0-c2e7-5b3a-9a6f-e6589164b355/c0120d03-211c-51c6-a664-5cb13d9d2d42/3f10d391-232a-52d1-8a34-a7e3b31a27de?project_id=prd_jt

[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c50c0f046 (unknown)
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2ca9426520 (unknown)
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c5344d03d behavior_path_planner::PullOverPath::getFullPath()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c5343ac57 behavior_path_planner::GoalPlannerModule::calcDistanceToPathChange()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c534435ff behavior_path_planner::GoalPlannerModule::planWaitingApprovalWithGoalModification()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c53444247 behavior_path_planner::GoalPlannerModule::planWaitingApproval()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c5344306b behavior_path_planner::GoalPlannerModule::run()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c532c893a behavior_path_planner::PlannerManager::run()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c532ae27a behavior_path_planner::PlannerManager::runRequestModules()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c532b0051 _ZZN21behavior_path_planner14PlannerManager3runERKSt10shared_ptrINS_11PlannerDataEEENKUlvE0_clEv
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c532b0c29 behavior_path_planner::PlannerManager::run()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c532ead1c behavior_path_planner::BehaviorPathPlannerNode::run()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2c532f3c35 rclcpp::GenericTimer<>::execute_callback()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2ca99eeffe rclcpp::Executor::execute_any_executable()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2ca99f5432 rclcpp::executors::MultiThreadedExecutor::run()
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2ca9708253 (unknown)
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2ca9478ac3 (unknown)
[openscenario_interpreter_node-3] [component_container_mt-29]     @     0x7f2ca9509bf4 clone
[openscenario_interpreter_node-3] [component_container_mt-29]     @                0x0 (unknown)

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codecov bot commented Oct 26, 2023 •
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Codecov Report

Attention: 18 lines in your changes are missing coverage. Please review.

Comparison is base (98fe02b) 14.75% compared to head (74e93fe) 15.09%.
Report is 4 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #5412      +/-   ##
==========================================
+ Coverage   14.75%   15.09%   +0.34%     
==========================================
  Files        1661     1661              
  Lines      115526   115527       +1     
  Branches    35669    35679      +10     
==========================================
+ Hits        17049    17443     +394     
+ Misses      79232    78572     -660     
- Partials    19245    19512     +267
Flag Coverage Δ *Carryforward flag
differential 14.97% <33.33%> (?)
total 14.75% <ø> (-0.01%) ⬇️ Carriedforward from 98fe02b

*This pull request uses carry forward flags. Click here to find out more.

Files Coverage Δ
...king/include/autonomous_emergency_braking/node.hpp 0.00% <ø> (ø)
control/autonomous_emergency_braking/src/node.cpp 0.00% <ø> (ø)
...ased_localizer/src/ar_tag_based_localizer_core.cpp 0.00% <ø> (ø)
.../scene_module/goal_planner/goal_planner_module.hpp 28.30% <ø> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp 45.45% <ø> (ø)
.../scene_module/goal_planner/goal_planner_module.cpp 9.46% <46.66%> (+4.19%) ⬆️
planning/behavior_path_planner/src/utils/utils.cpp 17.64% <16.66%> (+3.89%) ⬆️

... and 10 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

@kosuke55
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fixed in https://evaluation.tier4.jp/evaluation/reports/0aadb11f-a2ab-5827-97ea-c78060ac7763?project_id=prd_jt

@kosuke55
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this PR needs #5416

@kosuke55
feat(goal_planner): do not decelerate before path candidates generation
74e93fe 
Signed-off-by: kosuke55 <[email protected]>

refactor(goal_planner): use updateData

Signed-off-by: kosuke55 <[email protected]>

upda

use getPreviousModuleOutput also in waiting approval

Signed-off-by: kosuke55 <[email protected]>
@kosuke55 kosuke55 merged commit dfc83a0 into main Oct 26, 2023
@kosuke55 kosuke55 deleted the feat/decel branch October 26, 2023 13:12
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Nov 8, 2023
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@kyoichi-sugahara kyoichi-sugahara kyoichi-sugahara approved these changes

@rej55 rej55 Awaiting requested review from rej55

@satoshi-ota satoshi-ota Awaiting requested review from satoshi-ota

@shmpwk shmpwk Awaiting requested review from shmpwk

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