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feat(mrm_pull_over_manager): add pull over mrm #5634

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feat(mrm_pull_over_manager): add pull over mrm #5634

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mkuri
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@mkuri mkuri commented Nov 20, 2023 •
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Description

Add pull over MRM.

Related links

tier4/tier4_autoware_msgs#108
TIER IV Internal link

Tests performed

pull-over-mrm-fhd.mp4

Notes for reviewers

Interface changes

Effects on system behavior

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In-review checklist for the PR reviewers

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  • The PR follows the pull request guidelines.
  • The PR has been properly tested.
  • The PR has been reviewed by the code owners.

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  • There are no open discussions or they are tracked via tickets.
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TomohitoAndo and others added 20 commits October 12, 2023 09:58
@TomohitoAndo
wip
1a09522 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
wip
0fa11f4 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
wip
9b7857f 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
wip
34cdca0 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
wip
4872082 
Signed-off-by: Tomohito Ando <[email protected]>
@mkuri
feat(emergency_goal_manager): add an emergency_goal_manager package
c5e4b4c 
Signed-off-by: Makoto Kurihara <[email protected]>
@TomohitoAndo
feat: add mrm_pull_over_manager
fa81555 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
change update rate to param
171d4aa 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
fix
08fe546 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
change INFO to DEBUG
542c80d 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
update pull over point
c9e9dff 
Signed-off-by: Tomohito Ando <[email protected]>
@mkuri
chore(emergency_goal_manager): add main callbacks
8411b80 
Signed-off-by: Makoto Kurihara <[email protected]>
@TomohitoAndo
replace activate pull over with operate mrm service
c779c5d 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
publish emergency goals clear command when deactivated
16e9f0e 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
replace PoseArray with EmergencyGoalsStamped
0701a53 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
fix function name
3d2e3cc 
Signed-off-by: Tomohito Ando <[email protected]>
@TomohitoAndo
fix condition of the num of goals
d620dfc 
Signed-off-by: Tomohito Ando <[email protected]>
@veqcc
Merge remote-tracking branch 'awf/main' into feat/mrm-pull-over-manager
5e0a19e
@veqcc
create emergency_goal_manager node
b2952c2 
Signed-off-by: veqcc <[email protected]>
@veqcc
fix
113f07e 
Signed-off-by: veqcc <[email protected]>
@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:system System design and integration. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Nov 20, 2023
@mkuri mkuri changed the title Feat/mrm pull over manager feat(mrm_pull_over_manager): add pull over mrm Nov 20, 2023
@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Dec 4, 2023
@veqcc veqcc mentioned this pull request Mar 4, 2024
Closed
4 tasks
@mkuri mkuri requested a review from TetsuKawa as a code owner March 5, 2024 08:12
@mkuri mkuri mentioned this pull request Mar 22, 2024
Merged
7 tasks
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codecov bot commented Mar 25, 2024 •
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Codecov Report

Attention: Patch coverage is 0% with 248 lines in your changes missing coverage. Please review.

Project coverage is 14.92%. Comparing base (1aa5bb9) to head (9e75f1b).
Report is 351 commits behind head on main.

❗ Current head 9e75f1b differs from pull request most recent head 7fa0cf5

Please upload reports for the commit 7fa0cf5 to get more accurate results.

Files Patch % Lines
...m_pull_over_manager/mrm_pull_over_manager_core.cpp 0.00% 144 Missing ⚠️
...y_goal_manager/src/emergency_goal_manager_core.cpp 0.00% 65 Missing ⚠️
...nager/include/mrm_pull_over_manager/csv_parser.hpp 0.00% 22 Missing ⚠️
...y_goal_manager/src/emergency_goal_manager_node.cpp 0.00% 8 Missing ⚠️
...m_pull_over_manager/mrm_pull_over_manager_node.cpp 0.00% 8 Missing ⚠️
...m_pull_over_manager/mrm_pull_over_manager_core.hpp 0.00% 1 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #5634      +/-   ##
==========================================
- Coverage   14.94%   14.92%   -0.03%     
==========================================
  Files        1943     1948       +5     
  Lines      133961   134124     +163     
  Branches    39849    39838      -11     
==========================================
- Hits        20022    20019       -3     
- Misses      91655    91829     +174     
+ Partials    22284    22276       -8
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 14.95% <ø> (+<0.01%) ⬆️ Carriedforward from d8013b7

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

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

isamu-takagi
isamu-takagi reviewed Mar 25, 2024
View reviewed changes
system/emergency_goal_manager/include/emergency_goal_manager_core.hpp Outdated
Comment on lines 19 to 20
#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
#include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
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I added the internal route interfaces for route_selector. I think that these are more suitable for this node.
https://github.com/tier4/tier4_autoware_msgs/tree/tier4/universe/tier4_planning_msgs/srv

isamu-takagi
isamu-takagi reviewed Mar 25, 2024
View reviewed changes
system/emergency_goal_manager/include/emergency_goal_manager_core.hpp Outdated
#ifndef EMERGENCY_GOAL_MANAGER_CORE_HPP_
#define EMERGENCY_GOAL_MANAGER_CORE_HPP_

// Autoware
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Comments in include sections disable sorting, so avoid them if you don't need them.
https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/languages/cpp/#include-header-files-in-the-defined-order-required-partially-automated

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ee81466

isamu-takagi
isamu-takagi reviewed Mar 25, 2024
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system/emergency_goal_manager/include/emergency_goal_manager_core.hpp Outdated
@@ -0,0 +1,70 @@
// Copyright 2022 Tier IV, Inc.
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The copyright year is 2022. Is there a original file for this?

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10723f4

mkuri and others added 8 commits April 2, 2024 18:13
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stale bot commented Jun 5, 2024

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Jun 5, 2024
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xmfcx commented Dec 10, 2024

@mkuri @TetsuKawa @isamu-takagi @ito-san could you rebase and merge this PR?

@stale stale bot removed the status:stale Inactive or outdated issues. (auto-assigned) label Dec 10, 2024
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@TetsuKawa TetsuKawa TetsuKawa left review comments

@isamu-takagi isamu-takagi isamu-takagi left review comments

@ito-san ito-san Awaiting requested review from ito-san ito-san is a code owner

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component:launch Launch files, scripts and initialization tools. (auto-assigned) component:system System design and integration. (auto-assigned) tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned)
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7 participants
@mkuri @xmfcx @isamu-takagi @TetsuKawa @TomohitoAndo @veqcc @kosuke55