feat(start_planner): yaw threshold for rss check #7657

danielsanchezaran · 2024-06-24T08:30:44Z

Description

This PR adds a yaw threshold to skip rss check when the yaws of the ego predicted path and the predicted object are too different, to avoid RSS checks like this:

Note, this PR requires launch changes: autowarefoundation/autoware_launch#1040

Tests performed

PSim

Degradation tests TIER IV INTERNAL LINK

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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codecov · 2024-06-24T09:03:22Z

Codecov Report

Attention: Patch coverage is 11.76471% with 30 lines in your changes missing coverage. Please review.

Project coverage is 13.08%. Comparing base (507e3f4) to head (a2ccb94).
Report is 149 commits behind head on main.

Files	Patch %	Lines
...behavior_path_start_planner_module/src/manager.cpp	0.00%	9 Missing ⚠️
..._start_planner_module/src/start_planner_module.cpp	0.00%	6 Missing ⚠️
..._behavior_path_goal_planner_module/src/manager.cpp	0.00%	5 Missing ⚠️
...mon/src/utils/path_safety_checker/safety_check.cpp	0.00%	4 Missing ⚠️
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	3 Missing ⚠️
...path_start_planner_module/start_planner_module.hpp	0.00%	2 Missing ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7657      +/-   ##
==========================================
- Coverage   14.84%   13.08%   -1.77%     
==========================================
  Files        1999      525    -1474     
  Lines      139163    48921   -90242     
  Branches    43716    11815   -31901     
==========================================
- Hits        20661     6402   -14259     
+ Misses      95731    41574   -54157     
+ Partials    22771      945   -21826

Flag	Coverage Δ
differential	`13.08% <11.76%> (?)`
total	`?`

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maxime-clem · 2024-06-24T11:05:45Z

...planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp

@@ -604,6 +610,10 @@ std::vector<Polygon2d> getCollidedPolygons(
    const auto & ego_polygon = interpolated_data->poly;
    const auto ego_velocity = std::min(interpolated_data->velocity, max_velocity_limit);

+    const double ego_yaw = tf2::getYaw(ego_pose.orientation);
+    const double object_yaw = tf2::getYaw(obj_pose.orientation);
+    if (std::abs(ego_yaw - object_yaw) > yaw_difference_th) continue;


If you have ego_yaw = 3.13 and object_yaw = -3.13, the difference should be ~0.02 but with this code it will be 6.26 which will always be higher than the threshold.
I believe you should use autoware::universe_utils::normalizeRadian to make sure the angle difference is between -pi and pi.

Done @maxime-clem

Did you forget to push a commit ? The code appear unchanged 🤔

github-actions · 2024-06-25T06:50:21Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-7657/
Modified URLs:

Signed-off-by: Daniel Sanchez <[email protected]>

zulfaqar-azmi-t4 · 2024-06-25T09:11:35Z

@danielsanchezaran
Looks good to me. Can you add the parameter description in lane change documentation as well?

Signed-off-by: Daniel Sanchez <[email protected]>

github-actions · 2024-06-26T05:30:14Z

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danielsanchezaran · 2024-06-26T05:30:34Z

@danielsanchezaran Looks good to me. Can you add the parameter description in lane change documentation as well?

Done

Signed-off-by: Daniel Sanchez <[email protected]>

zulfaqar-azmi-t4

LGTM

satoshi-ota

LGTM. Thanks!

…7657) * add param to customize yaw th Signed-off-by: Daniel Sanchez <[email protected]> * add param to other modules Signed-off-by: Daniel Sanchez <[email protected]> * docs Signed-off-by: Daniel Sanchez <[email protected]> * update READMEs with params Signed-off-by: Daniel Sanchez <[email protected]> * fix LC README Signed-off-by: Daniel Sanchez <[email protected]> * use normalized yaw diff Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>

…7657) * add param to customize yaw th Signed-off-by: Daniel Sanchez <[email protected]> * add param to other modules Signed-off-by: Daniel Sanchez <[email protected]> * docs Signed-off-by: Daniel Sanchez <[email protected]> * update READMEs with params Signed-off-by: Daniel Sanchez <[email protected]> * fix LC README Signed-off-by: Daniel Sanchez <[email protected]> * use normalized yaw diff Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: palas21 <[email protected]>

…7657) * add param to customize yaw th Signed-off-by: Daniel Sanchez <[email protected]> * add param to other modules Signed-off-by: Daniel Sanchez <[email protected]> * docs Signed-off-by: Daniel Sanchez <[email protected]> * update READMEs with params Signed-off-by: Daniel Sanchez <[email protected]> * fix LC README Signed-off-by: Daniel Sanchez <[email protected]> * use normalized yaw diff Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>

* add param to customize yaw th Signed-off-by: Daniel Sanchez <[email protected]> * add param to other modules Signed-off-by: Daniel Sanchez <[email protected]> * docs Signed-off-by: Daniel Sanchez <[email protected]> * update READMEs with params Signed-off-by: Daniel Sanchez <[email protected]> * fix LC README Signed-off-by: Daniel Sanchez <[email protected]> * use normalized yaw diff Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>

github-actions bot added component:planning Route planning, decision-making, and navigation. (auto-assigned) component:system System design and integration. (auto-assigned) labels Jun 24, 2024

danielsanchezaran added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jun 24, 2024

danielsanchezaran force-pushed the feat/yaw_threshold_for_rss_check branch 2 times, most recently from 52b2a88 to 356a320 Compare June 24, 2024 08:40

github-actions bot removed the component:system System design and integration. (auto-assigned) label Jun 24, 2024

danielsanchezaran marked this pull request as ready for review June 24, 2024 08:41

danielsanchezaran requested review from kosuke55, kyoichi-sugahara, soblin, satoshi-ota, shmpwk, TomohitoAndo, tkimura4, rej55, go-sakayori, maxime-clem, TakaHoribe, takayuki5168 and zulfaqar-azmi-t4 as code owners June 24, 2024 08:41

maxime-clem requested changes Jun 24, 2024

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danielsanchezaran force-pushed the feat/yaw_threshold_for_rss_check branch from 356a320 to 9d877eb Compare June 25, 2024 06:07

danielsanchezaran requested review from isamu-takagi, mitsudome-r, yukkysaito and mkquda as code owners June 25, 2024 06:07

github-actions bot added component:system System design and integration. (auto-assigned) type:documentation Creating or refining documentation. (auto-assigned) labels Jun 25, 2024

danielsanchezaran mentioned this pull request Jun 25, 2024

feat(behavior_path_planner): add yaw threshold param autowarefoundation/autoware_launch#1040

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danielsanchezaran added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Jun 25, 2024

danielsanchezaran force-pushed the feat/yaw_threshold_for_rss_check branch from 307e887 to f317d97 Compare June 25, 2024 06:49

danielsanchezaran added 3 commits June 25, 2024 15:50

add param to customize yaw th

18764d5

Signed-off-by: Daniel Sanchez <[email protected]>

add param to other modules

b7f3685

Signed-off-by: Daniel Sanchez <[email protected]>

docs

750838a

Signed-off-by: Daniel Sanchez <[email protected]>

danielsanchezaran force-pushed the feat/yaw_threshold_for_rss_check branch from f317d97 to 750838a Compare June 25, 2024 06:51

github-actions bot removed the component:system System design and integration. (auto-assigned) label Jun 25, 2024

update READMEs with params

c2c59cc

Signed-off-by: Daniel Sanchez <[email protected]>

danielsanchezaran added 2 commits June 26, 2024 14:44

fix LC README

3ff2d96

Signed-off-by: Daniel Sanchez <[email protected]>

use normalized yaw diff

a2ccb94

Signed-off-by: Daniel Sanchez <[email protected]>

maxime-clem approved these changes Jun 26, 2024

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zulfaqar-azmi-t4 approved these changes Jun 26, 2024

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satoshi-ota approved these changes Jun 27, 2024

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danielsanchezaran merged commit c129187 into autowarefoundation:main Jun 27, 2024
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danielsanchezaran deleted the feat/yaw_threshold_for_rss_check branch June 27, 2024 01:15

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feat(start_planner): yaw threshold for rss check #7657

feat(start_planner): yaw threshold for rss check #7657

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danielsanchezaran commented Jun 24, 2024 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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