feat(autonomous_emergency_braking): cherry pick/aeb latest to v4.0.0 #1643
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…aeb (autowarefoundation#7548) * add polling sub to predicted objects Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP requires changing path frame to map Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add parameters and reuse predicted obj speed Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * introduce early break to reduce computation time Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * resolve merge conflicts Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix guard Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove unused declaration Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix include Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix include issues Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove inline Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete unused dependencies Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add utils.cpp Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove _ for non member variable Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…utowarefoundation#7605) * add minimum cluster height threshold Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add update param option Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * avoid the float check if cluster_surpasses_threshold_height is already true Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update README Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add cluster height description Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…oundation#7740) change resize to reserve Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…utowarefoundation#7707) * add support for negative speeds Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove negative speed check for predicted obj Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…utowarefoundation#7703) * apply clangd suggestions Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add maintainer Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…owarefoundation#7894) * add virtual stop wall to aeb Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add maintainer Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add uppercase Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use motion utils function instead of shiftPose Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…state (autowarefoundation#8312) add info marker and override for state Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…warefoundation#8330) update readme for new param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…undation#8126) * add initial tests Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add more tests Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * more tests Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP add publishing and test subscription Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add more tests Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix lint cmake Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP tf topic Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Revert "WIP tf topic" This reverts commit b5ef11b. Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add path crop test Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add test for transform object Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add briefs Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete repeated test Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…autowarefoundation#8569) * make it so AEB works with only one req path type (imu or MPC) Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix missing mpc path return Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add check Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * modify no path msg Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…arefoundation#8611) fix bug by using the collision data keeper Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…DME (autowarefoundation#8612) * docs: improve AEB module's README Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> * update rss distance length Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
…undation#8706) * add timekeeper to AEB Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add more info to output Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…t transform (autowarefoundation#8734) set stamp to 0 to get the latest stamp instead of waiting for the stamp Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…8778) * add missing rclcpp::Time(0) Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor to reduce cropping to once per iteration Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add LookUpTransform to utils Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * separate object creation and clustering Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * error handling of empty pointcloud Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…8789) align the control parameters Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
…ll polygons for debugging purposes (autowarefoundation#8865) * add markers showing aeb convex hull polygons for debugging purposes Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix briefs Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix typo Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
… localization is faulty (autowarefoundation#8873) make a clearer image for aeb when localization is faulty Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…ndation#8930) make hull markers 3d Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…owarefoundation#8950) add missing params Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…n the search area (autowarefoundation#8591) * refactor PR Signed-off-by: ismetatabay <ismet@leodrive.ai> * WIP Signed-off-by: ismetatabay <ismet@leodrive.ai> * change using polygon to lateral offset Signed-off-by: ismetatabay <ismet@leodrive.ai> * improve code Signed-off-by: ismetatabay <ismet@leodrive.ai> * remove redundant code Signed-off-by: ismetatabay <ismet@leodrive.ai> * skip close points in MPC path generation Signed-off-by: ismetatabay <ismet@leodrive.ai> * fix empty path points in short parking scenario Signed-off-by: ismetatabay <ismet@leodrive.ai> * fix readme conflicts Signed-off-by: ismetatabay <ismet@leodrive.ai> --------- Signed-off-by: ismetatabay <ismet@leodrive.ai>
…ation#8998) add sanity chackes Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…foundation#9004) * set a limit to the imu path length Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix test and add a new one Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update readme Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * pre-commit Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use velocity and time directly to get arc length Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor to reduce repeated code Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * cleaning code Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…ublisher to virtual_wall_publisher (autowarefoundation#9078) Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
… back distance usage (autowarefoundation#9141) * fix no backward imu path and wrong back distance usage Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use the motion utils isDrivingForward function Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…ndation#8789)" This reverts commit f35d4a3.
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…arefoundation#9247) * solve issue with arc length Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix problem with points one vehicle apart from path Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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Description
Cherry-picks to update AEB code. Requires launch updates too: https://github.com/tier4/autoware_launch.x2/pull/838
c033ce1 (HEAD -> cherry-pick/aeb-latest-to-v4.0.0, origin/cherry-pick/aeb-latest-to-v4.0.0) fix namespaces
755b016 fix(autonomous_emergency_braking): fix no backward imu path and wrong back distance usage (autowarefoundation#9141)
8c74d59 refactor(autoware_autonomous_emergency_braking): rename info_marker_publisher to virtual_wall_publisher (autowarefoundation#9078)
bead182 feat(autonomous_emergency_braking): set max imu path length (autowarefoundation#9004)
870b270 feat(autonomous_emergency_braking): add sanity chackes (autowarefoundation#8998)
4d446a2 feat(autonomous_emergency_braking): calculate the object's velocity in the search area (autowarefoundation#8591)
c472c3d docs(autonomous_emergency_braking): add missing params to README (autowarefoundation#8950)
37a2e8e feat(autonomous_emergency_braking): make hull markers 3d (autowarefoundation#8930)
cd97ade docs(autonomous_emergency_braking): make a clearer image for aeb when localization is faulty (autowarefoundation#8873)
64c7870 feat(autonomous_emergency_braking): add markers showing aeb convex hull polygons for debugging purposes (autowarefoundation#8865)
8d4f624 feat(autonomous_emergency_braking): speed up aeb (autowarefoundation#8778)
285a079 feat(autonomous_emergency_braking): increase aeb speed by getting last transform (autowarefoundation#8734)
87e56b2 feat(autonomous_emergency_braking): add timekeeper to AEB (autowarefoundation#8706)
d98b31b docs(autoware_autonomous_emergency_braking): improve AEB module's README (autowarefoundation#8612)
07ffb45 fix(autonomous_emergency_braking): fix debug marker visual bug (autowarefoundation#8611)
48ac496 feat(autonomous_emergency_braking): enable aeb with only one req path (autowarefoundation#8569)
20ed254 feat(autonomous_emergency_braking): add some tests to aeb (autowarefoundation#8126)
1ee945d docs(autonomous_emergency_braking): update readme for new param (autowarefoundation#8330)
36b06a5 feat(autonomous_emergency_braking): add info marker and override for state (autowarefoundation#8312)
594fc7b feat(autonomous_emergency_braking): add virtual stop wall to aeb (autowarefoundation#7894)
a195768 chore(autonomous_emergency_braking): apply clangd suggestions to aeb (autowarefoundation#7703)
03049a7 feat(autonomous_emergency_braking): aeb add support negative speeds (autowarefoundation#7707)
20ed254 feat(autonomous_emergency_braking): add some tests to aeb (autowarefoundation#8126)
1ee945d docs(autonomous_emergency_braking): update readme for new param (autowarefoundation#8330)
36b06a5 feat(autonomous_emergency_braking): add info marker and override for state (autowarefoundation#8312)
594fc7b feat(autonomous_emergency_braking): add virtual stop wall to aeb (autowarefoundation#7894)
a195768 chore(autonomous_emergency_braking): apply clangd suggestions to aeb (autowarefoundation#7703)
03049a7 feat(autonomous_emergency_braking): aeb add support negative speeds (autowarefoundation#7707)
cab9c6a fix(autonomous_emergency_braking): aeb strange mpc polygon (autowarefoundation#7740)
647d9d5 feat(autonomous_emergency_braking): add cluster min height for aeb (autowarefoundation#7605)
61d242d feat(autonomous_emergency_braking): add predicted object support for aeb (autowarefoundation#7548)
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