diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 64c3bbb98d9..e6143092224 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index dc0b9148053..018ff9fb011 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.5.0 + 3.5.2 arithmetic library for scenario_simulator_v2 Tatsuya Yamasaki Apache License 2.0 diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst index 62b75383b52..ef2f91fbdb1 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 7dfdbe1d948..e6a5e7a7188 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.5.0 + 3.5.2 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 54850734521..d4d80b71f2b 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 283b46d76c3..4d092356a5a 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.5.0 + 3.5.2 Exception types for scenario simulator Tatsuya Yamasaki Apache License 2.0 diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst index 054e9449524..9818ba53118 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index cf00d05b43f..4ab46e09f15 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.5.0 + 3.5.2 Lightweight JUnit library for ROS 2 Masaya Kataoka Tatsuya Yamasaki diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst index 65c1e11f5a0..e39b9ece0eb 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index d6a76edb2b3..f57550fbcc6 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.5.0 + 3.5.2 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index c7c1a86aa2e..8dc1e06f8ea 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,24 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge pull request `#1338 `_ from tier4/fix/interpreter/user-defined-value-condition + Fix/interpreter/user defined value condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Change QoS of `/api/localization/initialization_state` to transient local +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp index e9d14665928..0202d488eb3 100644 --- a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp +++ b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp @@ -114,17 +114,17 @@ class FieldOperatorApplicationFor CONCEALER_PUBLIC explicit FieldOperatorApplicationFor(Ts &&... xs) : FieldOperatorApplication(std::forward(xs)...), // clang-format off - getAckermannControlCommand("/control/command/control_cmd", *this), - getAutowareState("/api/iv_msgs/autoware/state", *this), - getCooperateStatusArray("/api/external/get/rtc_status", *this, [this](const auto & v) { latest_cooperate_status_array = v; }), - getEmergencyState("/api/external/get/emergency", *this, [this](const auto & v) { receiveEmergencyState(v); }), + getAckermannControlCommand("/control/command/control_cmd", rclcpp::QoS(1), *this), + getAutowareState("/api/iv_msgs/autoware/state", rclcpp::QoS(1), *this), + getCooperateStatusArray("/api/external/get/rtc_status", rclcpp::QoS(1), *this, [this](const auto & v) { latest_cooperate_status_array = v; }), + getEmergencyState("/api/external/get/emergency", rclcpp::QoS(1), *this, [this](const auto & v) { receiveEmergencyState(v); }), #if __has_include() - getLocalizationState("/api/localization/initialization_state", *this), + getLocalizationState("/api/localization/initialization_state", rclcpp::QoS(1).transient_local(), *this), #endif - getMrmState("/api/fail_safe/mrm_state", *this, [this](const auto & v) { receiveMrmState(v); }), - getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", *this), - getTrajectory("/api/iv_msgs/planning/scenario_planning/trajectory", *this), - getTurnIndicatorsCommandImpl("/control/command/turn_indicators_cmd", *this), + getMrmState("/api/fail_safe/mrm_state", rclcpp::QoS(1), *this, [this](const auto & v) { receiveMrmState(v); }), + getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), *this), + getTrajectory("/api/iv_msgs/planning/scenario_planning/trajectory", rclcpp::QoS(1), *this), + getTurnIndicatorsCommandImpl("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this), requestClearRoute("/api/routing/clear_route", *this), requestCooperateCommands("/api/external/set/rtc_commands", *this), requestEngage("/api/external/set/engage", *this), diff --git a/external/concealer/include/concealer/subscriber_wrapper.hpp b/external/concealer/include/concealer/subscriber_wrapper.hpp index e8869fb86ce..8247a872e3a 100644 --- a/external/concealer/include/concealer/subscriber_wrapper.hpp +++ b/external/concealer/include/concealer/subscriber_wrapper.hpp @@ -41,10 +41,12 @@ class SubscriberWrapper template SubscriberWrapper( - const std::string & topic, NodeInterface & autoware_interface, + const std::string & topic, const rclcpp::QoS & quality_of_service, + NodeInterface & autoware_interface, const std::function & callback = {}) : subscription(autoware_interface.template create_subscription( - topic, 1, [this, callback](const typename MessageType::ConstSharedPtr message) { + topic, quality_of_service, + [this, callback](const typename MessageType::ConstSharedPtr message) { if constexpr (thread_safety == ThreadSafety::safe) { std::atomic_store(¤t_value, message); if (current_value and callback) { diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 7e79e340797..a81b6c11749 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.5.0 + 3.5.2 Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator. Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/src/autoware_universe.cpp b/external/concealer/src/autoware_universe.cpp index 6016eb0d322..dbecc8b51d9 100644 --- a/external/concealer/src/autoware_universe.cpp +++ b/external/concealer/src/autoware_universe.cpp @@ -17,11 +17,12 @@ namespace concealer { AutowareUniverse::AutowareUniverse() -: getAckermannControlCommand("/control/command/control_cmd", *this), - getGearCommandImpl("/control/command/gear_cmd", *this), - getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", *this), +: getAckermannControlCommand("/control/command/control_cmd", rclcpp::QoS(1), *this), + getGearCommandImpl("/control/command/gear_cmd", rclcpp::QoS(1), *this), + getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this), getPathWithLaneId( - "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", *this), + "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), + *this), setAcceleration("/localization/acceleration", *this), setOdometry("/localization/kinematic_state", *this), setSteeringReport("/vehicle/status/steering_status", *this), diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst index a3cbd42d32f..bbfb8cd28ea 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,21 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 3b0833adddb..886e2ad4790 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.5.0 + 3.5.2 vendor packages for intel raytracing kernel library masaya Apache 2.0 diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst index 4ac41d7f364..44adc3b2a99 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 0bdc0dcd63e..2e7eadce210 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.5.0 + 3.5.2 map package for kashiwanoha Masaya Kataoka Apache License 2.0 diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst index fbb3748f1d9..79f743c227e 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,21 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index fff5d6ae9c8..99e5424db70 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.5.0 + 3.5.2 map package for simple cross Masaya Kataoka Apache License 2.0 diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst index cf545f94612..87db40be421 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 4f4b0ed260a..9f219e0de12 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.5.0 + 3.5.2 C++ mock scenarios masaya Apache License 2.0 diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst index 9f522ae7066..708e2e2a241 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index dc9ed56c35f..20ae47e3ab9 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.5.0 + 3.5.2 TIER IV experimental catalogs for OpenSCENARIO Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst index 60a133f014f..47d6db82b6b 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,26 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge pull request `#1338 `_ from tier4/fix/interpreter/user-defined-value-condition + Fix/interpreter/user defined value condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Update `MagicSubscription`'s QoS to best effort +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Cleanup struct `MagicSubscription` +* Update MagicSubscription to share resources between instances +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge pull request `#1316 `_ from tier4/relative-clearance-condition diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp index 585d6d9e273..7ca1707fd9e 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp @@ -45,8 +45,6 @@ class UserDefinedValueCondition : private SimulatorCore::NonStandardOperation std::function evaluate_value; - static uint64_t magic_subscription_counter; - public: const String name; diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index d89bf384717..cacd0286ec4 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.5.0 + 3.5.2 OpenSCENARIO 1.2.0 interpreter package for Autoware Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp index fd99947d906..29d0424434d 100644 --- a/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp @@ -33,47 +33,77 @@ namespace openscenario_interpreter inline namespace syntax { template -struct MagicSubscription : private rclcpp::Node, public T +struct MagicSubscription : private T { - std::promise promise; + struct Node : public rclcpp::Node + { + std::atomic_bool stop_requested = false; - std::thread thread; + std::mutex mutex; - std::exception_ptr thrown; + std::exception_ptr thrown; - typename rclcpp::Subscription::SharedPtr subscription; + std::thread thread; -public: - explicit MagicSubscription(const std::string & node_name, const std::string & topic_name) - : rclcpp::Node(node_name), - thread( - [this](auto future) { - while (rclcpp::ok() and - future.wait_for(std::chrono::milliseconds(1)) == std::future_status::timeout) { + explicit Node() + : rclcpp::Node("magic_subscription"), thread([this]() { + while (rclcpp::ok() and not stop_requested) { try { rclcpp::spin_some(get_node_base_interface()); } catch (...) { + auto lock = std::lock_guard(mutex); thrown = std::current_exception(); } } - }, - std::move(promise.get_future())), - subscription(create_subscription(topic_name, 1, [this](const typename T::SharedPtr message) { - static_cast(*this) = *message; - })) + }) + { + } + + ~Node() + { + if (thread.joinable() and not stop_requested.exchange(true)) { + thread.join(); + } + } + + auto rethrow() + { + if (auto lock = std::lock_guard(mutex); thrown) { + std::rethrow_exception(thrown); + } + } + }; + + static inline std::size_t count = 0; + + static inline std::unique_ptr node = nullptr; + + typename rclcpp::Subscription::SharedPtr subscription; + + explicit MagicSubscription(const std::string & topic_name) { + if (not count++) { + node = std::make_unique(); + } + + subscription = node->template create_subscription( + topic_name, rclcpp::QoS(1).best_effort(), + [this](const typename T::SharedPtr message) { static_cast(*this) = *message; }); } ~MagicSubscription() { - if (thread.joinable()) { - promise.set_value(); - thread.join(); + if (not --count) { + node.reset(); } } -}; -uint64_t UserDefinedValueCondition::magic_subscription_counter = 0; + auto get() const -> const auto & + { + node->rethrow(); + return static_cast(*this); + } +}; UserDefinedValueCondition::UserDefinedValueCondition(const pugi::xml_node & node, Scope & scope) : name(readAttribute("name", node, scope)), @@ -134,31 +164,29 @@ UserDefinedValueCondition::UserDefinedValueCondition(const pugi::xml_node & node using tier4_simulation_msgs::msg::UserDefinedValueType; evaluate_value = - [&, current_message = std::make_shared>( - result.str(1) + "_subscription_" + std::to_string(++magic_subscription_counter), - result.str(0))]() { - auto evaluate = [](const auto & user_defined_value) { - switch (user_defined_value.type.data) { + [this, subscriber = std::make_shared>(result.str(0))]() { + if (const auto message = subscriber->get(); message.value.empty()) { + return unspecified; + } else { + switch (message.type.data) { case UserDefinedValueType::BOOLEAN: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::DATE_TIME: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::DOUBLE: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::INTEGER: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::STRING: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::UNSIGNED_INT: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::UNSIGNED_SHORT: - return make(user_defined_value.value); + return make(message.value); default: return unspecified; } - }; - - return not current_message->value.empty() ? evaluate(*current_message) : unspecified; + } }; #else throw SyntaxError( diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst index 65d65074842..88191f5be71 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 12da0f14943..1acb90e9b60 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.5.0 + 3.5.2 Examples for some TIER IV OpenSCENARIO Interpreter's features Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst index afb80f1e887..c3c48a56c77 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 0e5eae005dd..9354299e92a 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.5.0 + 3.5.2 ROS message types for package openscenario_interpreter Yamasaki Tatsuya Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst index f87d7ff9a93..50bae38aae7 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index da55adb6e8c..08eba27169b 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.5.0 + 3.5.2 Example package for TIER IV OpenSCENARIO Interpreter Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst index 6cf120d924c..c2543266cad 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 2e0d1f8fd00..8506186a487 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.5.0 + 3.5.2 ROS message types for package openscenario_preprocessor Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_utility/CHANGELOG.rst b/openscenario/openscenario_utility/CHANGELOG.rst index 14ecb74f6de..f4ba46753eb 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,21 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 94998e36263..cd83ace688e 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.5.0 + 3.5.2 Utility tools for ASAM OpenSCENARIO 1.2.0 Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_validator/CHANGELOG.rst b/openscenario/openscenario_validator/CHANGELOG.rst index 1024f4e94e1..7d354995ab7 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,21 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index fd3beac056c..90f04e5d258 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.5.0 + 3.5.2 Validator for OpenSCENARIO 1.3 Kotaro Yoshimoto Apache License 2.0 diff --git a/rviz_plugins/openscenario_visualization/CHANGELOG.rst b/rviz_plugins/openscenario_visualization/CHANGELOG.rst index 848d948bf39..d60a2466e3e 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 6f77a5b65ea..ba83dacc798 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.5.0 + 3.5.2 Visualization tools for simulation results Masaya Kataoka Kyoichi Sugahara diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst index e96bed42787..f8c796d649f 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml index 5e5e9b4267e..0b6d98faceb 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml @@ -2,7 +2,7 @@ real_time_factor_control_rviz_plugin - 3.5.0 + 3.5.2 Slider controlling real time factor value. Paweł Lech Apache License 2.0 diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst index 110e106a1f6..9fc146c46a7 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index a6d95d78fad..eb0a5155109 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.5.0 + 3.5.2 scenario testing framework for Autoware Masaya Kataoka Apache License 2.0 diff --git a/simulation/behavior_tree_plugin/CHANGELOG.rst b/simulation/behavior_tree_plugin/CHANGELOG.rst index 46bb38e4585..012e56d0e24 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index ccb25126242..1841f73241a 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.5.0 + 3.5.2 Behavior tree plugin for traffic_simulator masaya Apache 2.0 diff --git a/simulation/do_nothing_plugin/CHANGELOG.rst b/simulation/do_nothing_plugin/CHANGELOG.rst index 33aa50daaf7..c9692148509 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index a755ce78ec0..c765f33b88f 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.5.0 + 3.5.2 Behavior plugin for do nothing Masaya Kataoka Apache 2.0 diff --git a/simulation/simple_sensor_simulator/CHANGELOG.rst b/simulation/simple_sensor_simulator/CHANGELOG.rst index 0f4b53a7f56..23f476b0df6 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index e589b75cda2..d51d3560824 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.5.0 + 3.5.2 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 8f53e81a059..39714c8a2c9 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 7eac6ccca06..766331641db 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.5.0 + 3.5.2 packages to define interface between simulator and scenario interpreter Masaya Kataoka Apache License 2.0 diff --git a/simulation/traffic_simulator/CHANGELOG.rst b/simulation/traffic_simulator/CHANGELOG.rst index 0b77efa5042..5482cfc1f80 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,25 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge pull request `#1335 `_ from tier4/feat/RJD-1283-add-traffic-controller-visualization + feat(traffic_controller, api): add rviz marker for TrafficSink +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* ref(traffic_controller): rename make->appendDebugMarker +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* feat(traffic_controller, api): add rviz marker for TrafficSink +* Contributors: Dawid Moszynski, Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge pull request `#1316 `_ from tier4/relative-clearance-condition diff --git a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_controller.hpp b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_controller.hpp index ac47927668d..75c2a53ea83 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_controller.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_controller.hpp @@ -46,6 +46,7 @@ class TrafficController const std::function(void)> & get_entity_names_function, const std::function & get_entity_pose_function, const std::function & despawn_function, bool auto_sink = false); + template void addModule(Ts &&... xs) { @@ -53,6 +54,7 @@ class TrafficController modules_.emplace_back(module_ptr); } void execute(const double current_time, const double step_time); + auto makeDebugMarker() const -> const visualization_msgs::msg::MarkerArray; private: void autoSink(); diff --git a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp index 816e2c2faf2..41e52aaf0e4 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp @@ -26,6 +26,8 @@ #ifndef TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_MODULE_BASE_HPP_ #define TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_MODULE_BASE_HPP_ +#include + namespace traffic_simulator { namespace traffic @@ -35,6 +37,7 @@ class TrafficModuleBase public: TrafficModuleBase() {} virtual void execute(const double current_time, const double step_time) = 0; + virtual auto appendDebugMarker(visualization_msgs::msg::MarkerArray &) const -> void{}; }; } // namespace traffic } // namespace traffic_simulator diff --git a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp index a6c68b1bfbc..0754ace3f92 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp @@ -26,6 +26,8 @@ #ifndef TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_SINK_HPP_ #define TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_SINK_HPP_ +#include + #include #include #include @@ -40,13 +42,16 @@ class TrafficSink : public TrafficModuleBase { public: explicit TrafficSink( - double radius, const geometry_msgs::msg::Point & position, + lanelet::Id lanelet_id, double radius, const geometry_msgs::msg::Point & position, const std::function(void)> & get_entity_names_function, const std::function & get_entity_pose_function, const std::function & despawn_function); + const lanelet::Id lanelet_id; const double radius; const geometry_msgs::msg::Point position; void execute(const double current_time, const double step_time) override; + auto appendDebugMarker(visualization_msgs::msg::MarkerArray & marker_array) const + -> void override; private: const std::function(void)> get_entity_names_function; diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 540e9d980fc..54f8e104ad5 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.5.0 + 3.5.2 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator/src/api/api.cpp b/simulation/traffic_simulator/src/api/api.cpp index e001270d6d9..0bf4e86a742 100644 --- a/simulation/traffic_simulator/src/api/api.cpp +++ b/simulation/traffic_simulator/src/api/api.cpp @@ -355,6 +355,7 @@ bool API::updateFrame() clock_.update(); clock_pub_->publish(clock_.getCurrentRosTimeAsMsg()); debug_marker_pub_->publish(entity_manager_ptr_->makeDebugMarker()); + debug_marker_pub_->publish(traffic_controller_ptr_->makeDebugMarker()); return true; } diff --git a/simulation/traffic_simulator/src/traffic/traffic_controller.cpp b/simulation/traffic_simulator/src/traffic/traffic_controller.cpp index 0b87733cc37..7ebdb8710dd 100644 --- a/simulation/traffic_simulator/src/traffic/traffic_controller.cpp +++ b/simulation/traffic_simulator/src/traffic/traffic_controller.cpp @@ -61,7 +61,8 @@ void TrafficController::autoSink() lanelet_pose.s = laneletLength(lanelet_id, hdmap_utils_); const auto pose = toMapPose(lanelet_pose, hdmap_utils_); addModule( - 1, pose.position, get_entity_names_function, get_entity_pose_function, despawn_function); + lanelet_id, 1, pose.position, get_entity_names_function, get_entity_pose_function, + despawn_function); } } } @@ -72,5 +73,17 @@ void TrafficController::execute(const double current_time, const double step_tim module->execute(current_time, step_time); } } + +auto TrafficController::makeDebugMarker() const -> const visualization_msgs::msg::MarkerArray +{ + static const auto marker_array = [&]() { + visualization_msgs::msg::MarkerArray marker_array; + for (size_t i = 0; i < modules_.size(); ++i) { + modules_[i]->appendDebugMarker(marker_array); + } + return marker_array; + }(); + return marker_array; +} } // namespace traffic } // namespace traffic_simulator diff --git a/simulation/traffic_simulator/src/traffic/traffic_sink.cpp b/simulation/traffic_simulator/src/traffic/traffic_sink.cpp index c98fcdf95bd..b85663f17d6 100644 --- a/simulation/traffic_simulator/src/traffic/traffic_sink.cpp +++ b/simulation/traffic_simulator/src/traffic/traffic_sink.cpp @@ -23,8 +23,10 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include #include #include +#include #include #include #include @@ -36,11 +38,12 @@ namespace traffic_simulator namespace traffic { TrafficSink::TrafficSink( - double radius, const geometry_msgs::msg::Point & position, + lanelet::Id lanelet_id, double radius, const geometry_msgs::msg::Point & position, const std::function(void)> & get_entity_names_function, const std::function & get_entity_pose_function, const std::function & despawn_function) : TrafficModuleBase(), + lanelet_id(lanelet_id), radius(radius), position(position), get_entity_names_function(get_entity_names_function), @@ -60,5 +63,34 @@ void TrafficSink::execute( } } } + +auto TrafficSink::appendDebugMarker(visualization_msgs::msg::MarkerArray & marker_array) const + -> void +{ + const auto lanelet_text = std::to_string(lanelet_id); + visualization_msgs::msg::Marker traffic_sink_marker; + traffic_sink_marker.header.frame_id = "map"; + traffic_sink_marker.ns = "traffic_controller/traffic_sink/" + lanelet_text; + traffic_sink_marker.id = 0; + traffic_sink_marker.action = traffic_sink_marker.ADD; + traffic_sink_marker.type = 3; // cylinder + traffic_sink_marker.pose = + geometry_msgs::build().position(position).orientation( + geometry_msgs::build().x(0).y(0).z(0).w(1)); + traffic_sink_marker.color = color_names::makeColorMsg("firebrick", 0.99); + traffic_sink_marker.scale.x = radius * 2; + traffic_sink_marker.scale.y = radius * 2; + traffic_sink_marker.scale.z = 1.0; + marker_array.markers.emplace_back(traffic_sink_marker); + + visualization_msgs::msg::Marker text_marker; + text_marker = traffic_sink_marker; + text_marker.id = 1; + text_marker.type = 9; //text + text_marker.text = lanelet_text; + text_marker.color = color_names::makeColorMsg("white", 0.99); + text_marker.scale.z = 0.6; + marker_array.markers.emplace_back(text_marker); +} } // namespace traffic } // namespace traffic_simulator diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 2a75d18c2b9..d82f98feb99 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index a757a7725c8..3a3437091be 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.5.0 + 3.5.2 ROS messages for openscenario Masaya Kataoka Apache License 2.0 diff --git a/test_runner/random_test_runner/CHANGELOG.rst b/test_runner/random_test_runner/CHANGELOG.rst index 5fc9292f0c0..d2f9c7f28d4 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,21 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index d0dbd53a058..d486c8b5fc8 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.5.0 + 3.5.2 Random behavior test runner piotr-zyskowski-rai Apache License 2.0 diff --git a/test_runner/scenario_test_runner/CHANGELOG.rst b/test_runner/scenario_test_runner/CHANGELOG.rst index 33ccb31848d..7598508b4af 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,25 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge pull request `#1338 `_ from tier4/fix/interpreter/user-defined-value-condition + Fix/interpreter/user defined value condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Update test scenario `ByValueCondition.UserDefinedValueCondition.yaml` +* Update test scenario `ByValueCondition.UserDefinedValueCondition.yaml` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge pull request `#1316 `_ from tier4/relative-clearance-condition diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 0883d2fd03f..ee3961e5180 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.5.0 + 3.5.2 scenario test runner package Tatsuya Yamasaki Apache License 2.0 diff --git a/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml b/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml index 0b340721977..427fcce95df 100644 --- a/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml +++ b/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml @@ -8,7 +8,9 @@ OpenSCENARIO: ParameterDeclarations: ParameterDeclaration: [] CatalogLocations: - CatalogLocation: [] + VehicleCatalog: + Directory: + path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle RoadNetwork: LogicFile: filepath: $(find-pkg-share kashiwanoha_map)/map @@ -17,45 +19,32 @@ OpenSCENARIO: Entities: ScenarioObject: - name: ego - Vehicle: + CatalogReference: + catalogName: sample_vehicle + entryName: sample_vehicle + ObjectController: + Controller: + name: '' + Properties: + Property: + - name: isEgo + value: 'true' + - name: barricade + MiscObject: + mass: 1.0 + miscObjectCategory: obstacle name: '' - vehicleCategory: car BoundingBox: Center: x: 0 y: 0 - z: 1.25 + z: 0 Dimensions: - width: 2.25 - length: 4.77 - height: 2.5 - Performance: - maxSpeed: 50 - maxAcceleration: INF - maxDeceleration: INF - Axles: - FrontAxle: - maxSteering: 0.5236 - wheelDiameter: 0.6 - trackWidth: 4 - positionX: 1 - positionZ: 0.3 - RearAxle: - maxSteering: 0.5236 - wheelDiameter: 0.6 - trackWidth: 4 - positionX: 0 - positionZ: 0.3 + width: 10 + length: 1 + height: 10 Properties: Property: [] - ObjectController: - Controller: - name: '' - Properties: - Property: - - { name: isEgo, value: 'true' } - - { name: maxJerk, value: 1.5 } - - { name: minJerk, value: -1.5 } Storyboard: Init: Actions: @@ -69,33 +58,30 @@ OpenSCENARIO: laneId: '34513' s: 0 offset: 0 - Orientation: + Orientation: &ORIENTATION_ZERO type: relative h: 0 p: 0 r: 0 - RoutingAction: AcquirePositionAction: - Position: + Position: &EGO_DESTINATION LanePosition: roadId: '' laneId: '34507' s: 50 offset: 0 - Orientation: - type: relative - h: 0 - p: 0 - r: 0 - - LongitudinalAction: - SpeedAction: - SpeedActionDynamics: - dynamicsDimension: time - value: 0 - dynamicsShape: step - SpeedActionTarget: - AbsoluteTargetSpeed: - value: 2.778 + Orientation: *ORIENTATION_ZERO + - entityRef: barricade + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 20 + offset: 0 + Orientation: *ORIENTATION_ZERO Story: - name: '' Act: @@ -120,7 +106,7 @@ OpenSCENARIO: conditionEdge: none ByValueCondition: SimulationTimeCondition: - value: 120 + value: 180 rule: greaterThan - Condition: - name: '' @@ -133,26 +119,8 @@ OpenSCENARIO: - entityRef: ego EntityCondition: ReachPositionCondition: - Position: - LanePosition: - roadId: '' - laneId: '34507' - s: 50 - offset: 0 - Orientation: - type: relative - h: 0 - p: 0 - r: 0 + Position: *EGO_DESTINATION tolerance: 0.5 - - name: '' - delay: 0 - conditionEdge: none - ByValueCondition: - UserDefinedValueCondition: - name: ego.currentState - rule: equalTo - value: ArrivedGoal Action: - name: '' UserDefinedAction: @@ -163,23 +131,178 @@ OpenSCENARIO: StartTrigger: ConditionGroup: - Condition: - - name: '' + - &COUNT_UP + name: '' delay: 0 conditionEdge: none ByValueCondition: UserDefinedValueCondition: - name: /count_up - value: 500 + name: /count_up # ros2 run openscenario_interpreter_example count_up + value: 100 rule: greaterThan - # - Condition: - - name: '' - delay: 0 - conditionEdge: none - ByValueCondition: - UserDefinedValueCondition: - name: /timeout - value: true - rule: equalTo + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 10 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 20 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 30 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 40 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 50 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 60 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 70 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 80 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 90 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 100 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 110 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 120 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 130 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 140 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 150 Action: - name: '' UserDefinedAction: