feat(vehicle_cmd_gate): variable filter limits for different ego speed #4599

TakaHoribe · 2023-08-11T18:01:23Z

Description

Add a variable filter limit based on the ego velocity.
This PR enables the different filter limits (max steering angle, max jerk, etc) for the different ego velocities

For example, you can set

max_acceleration = 1.0 when ego_velocity <= 1.0
max_acceleration = 0.5 when ego_velocity > 1.0

Tests performed

run psim
run gtest
TIERIV internal scenario test (1633/1650)
- comparison for main branch: (1632/1650)

Notes for reviewers

None

Interface changes

None

Effects on system behavior

The filter

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codecov · 2023-08-12T13:19:20Z

Codecov Report

Patch coverage: 48.40% and project coverage change: +0.22% 🎉

Comparison is base (9dc104f) 14.89% compared to head (d7ae89b) 15.12%.
Report is 18 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4599      +/-   ##
==========================================
+ Coverage   14.89%   15.12%   +0.22%     
==========================================
  Files        1549     1550       +1     
  Lines      106942   107295     +353     
  Branches    32777    32968     +191     
==========================================
+ Hits        15934    16226     +292     
+ Misses      73617    73389     -228     
- Partials    17391    17680     +289

Flag	Coverage Δ		*Carryforward flag
differential	`42.61% <48.40%> (?)`
total	`14.89% <ø> (-0.01%)`	⬇️	Carriedforward from eccab7c

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

Files Changed	Coverage Δ
...ontrol/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp	`66.66% <0.00%> (-11.12%)`	⬇️
control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp	`0.00% <ø> (ø)`
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	`24.65% <10.52%> (+24.36%)`	⬆️
...icle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp	`45.94% <30.08%> (-24.73%)`	⬇️
...ontrol/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp	`71.63% <58.51%> (+0.20%)`	⬆️
.../test/src/test_filter_in_vehicle_cmd_gate_node.cpp	`61.07% <61.07%> (ø)`

... and 2 files with indirect coverage changes

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

github-actions · 2023-08-17T03:01:18Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-4599/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-4599/control/vehicle_cmd_gate/

TakaHoribe · 2023-08-17T04:38:38Z

Note: Filter is active on speed and acceleration when the vehicle is stopping and starting.

control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp

…speed Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

tkimura4 · 2023-08-21T10:49:30Z

control/vehicle_cmd_gate/package.xml

@@ -33,10 +33,14 @@
  <depend>tier4_vehicle_msgs</depend>
  <depend>vehicle_info_util</depend>


In my environment,
<build_depend>rosidl_default_generators</build_depend>
is needed for ros2 topic echo /control/vehicle_cmd_gate/is_filter_activated

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

tkimura4

LGTM

autowarefoundation#4599) * feat(vehicle_cmd_gate): variable filter limits for different vehicle speed Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add steer diff test Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add node test for vehicle_cmd_gate Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update readme Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add is_filter_activated msg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update is_activate for each field Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp * add function test for interpolation Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused file Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add missing depend Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

github-actions bot added the component:control Vehicle control algorithms and mechanisms. (auto-assigned) label Aug 11, 2023

TakaHoribe marked this pull request as ready for review August 11, 2023 18:46

TakaHoribe requested a review from tkimura4 as a code owner August 11, 2023 18:46

TakaHoribe added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 12, 2023

TakaHoribe force-pushed the adaptive_vehicle_cmd_filter branch from ef43894 to ea70a1c Compare August 12, 2023 13:07

TakaHoribe mentioned this pull request Aug 12, 2023

feat(vehicle_cmd_gate): adaptive filter limit autowarefoundation/autoware_launch#510

Merged

4 tasks

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Aug 16, 2023

TakaHoribe force-pushed the adaptive_vehicle_cmd_filter branch from 11e8004 to db914a2 Compare August 17, 2023 02:50

TakaHoribe added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Aug 17, 2023

TakaHoribe commented Aug 18, 2023

View reviewed changes

control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp Outdated Show resolved Hide resolved

TakaHoribe added 13 commits August 20, 2023 15:33

feat(vehicle_cmd_gate): variable filter limits for different vehicle …

7bc3b56

…speed Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

add steer diff test

7577aff

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

add node test for vehicle_cmd_gate

1bcdd8c

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

update

b5114b6

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

update

7fa9016

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

update readme

d6ecf59

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

add is_filter_activated msg

f643f25

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

update

474e4ec

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

update is_activate for each field

3b461a0

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

update

aaff9c9

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Update control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp

4a64fa0

add function test for interpolation

e7dd395

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

fix format

693abad

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

TakaHoribe force-pushed the adaptive_vehicle_cmd_filter branch from 41a2cd6 to 693abad Compare August 20, 2023 06:33

remove unused file

eccab7c

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

tkimura4 reviewed Aug 21, 2023

View reviewed changes

add missing depend

d7ae89b

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

tkimura4 approved these changes Aug 23, 2023

View reviewed changes

tkimura4 merged commit 5c21c05 into autowarefoundation:main Aug 23, 2023

tkimura4 deleted the adaptive_vehicle_cmd_filter branch August 23, 2023 03:16

tier4-autoware-public-bot bot mentioned this pull request Aug 24, 2023

chore: sync upstream tier4/autoware.universe#765

Merged

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feat(vehicle_cmd_gate): variable filter limits for different ego speed #4599

feat(vehicle_cmd_gate): variable filter limits for different ego speed #4599

TakaHoribe commented Aug 11, 2023 •

edited

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github-actions bot commented Aug 17, 2023

TakaHoribe commented Aug 17, 2023

tkimura4 Aug 21, 2023

TakaHoribe Aug 22, 2023

tkimura4 left a comment

		@@ -33,10 +33,14 @@
		<depend>tier4_vehicle_msgs</depend>
		<depend>vehicle_info_util</depend>

feat(vehicle_cmd_gate): variable filter limits for different ego speed #4599

feat(vehicle_cmd_gate): variable filter limits for different ego speed #4599

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TakaHoribe commented Aug 11, 2023 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface 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

codecov bot commented Aug 12, 2023 • edited Loading

Codecov Report

github-actions bot commented Aug 17, 2023

TakaHoribe commented Aug 17, 2023

tkimura4 Aug 21, 2023

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TakaHoribe commented Aug 11, 2023 •

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