feat(behavior_path_planner): debug messages for failed avoidance #694

zulfaqar-azmi-t4 · 2022-04-14T05:51:22Z

Description

This PR requires the new planning messages

Tests performed

Add the new planning message　 feat: new avoidance msgs for debug tier4/tier4_autoware_msgs#21.
In `
Add this PR
colcon build
run planning_simulator
attempt to make the avoidance planner fail
print the debug message via the following ⬇

ros2 topic echo /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_debug_message_array

Note:
You might need to comment out the following commands from autoware/launcher/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py,

ExecuteProcess(
    cmd=[
        "ros2",
        "topic",
        "pub",
        "/planning/scenario_planning/lane_driving/behavior_planning/"
        "behavior_path_planner/path_change_approval",
        "tier4_planning_msgs/msg/Approval",
        "{approval: true}",
        "-r",
        "10",
    ]
),

Notes for reviewers

It might be difficult to create the failed scenario, therefore, the following notes might help

First object that cause planning failure will not be reflected in the object line.
Once the object that cause failure available, the every next object will reflect the the fail object’s reason

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zulfaqar-azmi-t4 · 2022-04-14T05:52:02Z

Current progress

debug_msg.mp4

debug_msg2.mp4

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

.../behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp

taikitanaka3 · 2022-04-15T11:39:09Z

@zulfaqar-azmi-t4
[Q]
I refer to 2nd video why there are so many uuids? It looks like there is only 2 cars

TakaHoribe · 2022-04-16T09:40:13Z

@taikitanaka3 The uuid is defined by uint[16].
http://docs.ros.org/en/melodic/api/uuid_msgs/html/msg/UniqueID.html

@zulfaqar-azmi-t4 @taikitanaka3 about the uuid representation, it may be useful for debug to publish the uuid with string type to have consistency with Rviz visualization. In Rviz, the uuid is visualized as Hex value with the following conversion. What do you think?
https://github.com/tier4/autoware.universe/blob/tier4/main/common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp/#L277-L284

zulfaqar-azmi-t4 · 2022-04-17T13:15:07Z

@TakaHoribe CC: @taikitanaka3
yes, it is much more readable too.
I'll change them in the next commit. 👍🏼

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

zulfaqar-azmi-t4 · 2022-04-18T05:29:05Z

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_utils.cpp

+std::string getUuidStr(const ObjectData & obj)
+{
+  std::stringstream hex_value;
+  for (std::size_t idx = 0; idx < 4; ++idx) {


@TakaHoribe @taikitanaka3

as the number of uuid characters to display, I don't really sure whether to display all 32 characters or only a portion of it.

As personally I think at this stage we don't really need to process all of them, so I only choose 8 characters ( note to myself): each byte consist of 2 hexadecimal characters, therefore 2x4 byte = 8 characters)

Only for the visualization, 4 characters are enough i think. It is the same number as used in the perception debug visualization.

In the debug topic, you can use the full characters.

Alright. The current commit is updated to display all characters. 👍🏼

zulfaqar-azmi-t4 · 2022-04-18T10:14:39Z

Display complete uuid characters

TakaHoribe · 2022-04-18T10:44:53Z

...avior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp

+#include <tier4_planning_msgs/msg/avoidance_info.hpp>
+#include <tier4_planning_msgs/msg/avoidance_info_array.hpp>
+
+#include <fmt/format.h>


@zulfaqar-azmi-t4 Is this needed?

sorry, my bad. i must have accidentally overlook this header. removing it.

zulfaqar-azmi-t4 · 2022-04-19T14:24:03Z

Note:
I'm adding additional support debug info, as previously the info such as JerkTooLarge or InsufficientLateralMargin now, there are be duplicating messages.

Also the code is too messy.
So changing this to draft.

taikitanaka3 · 2022-04-20T06:29:18Z

@zulfaqar-azmi-t4
I think TooLargeJerk would be better than JerkTooLarge.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

This is so that people can infer mutable to debug, therefore reducing the amount of time for debugging other things Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Also fix getUuidStr function to reflect the actual hex value. the function is moved to avoidance_util as it better served as helper function. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Note: need further refactoring, due to multiple similar code, plus duplicate printing. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 · 2022-04-22T04:45:18Z

This is the current version.
Probably no more avoidance related information to be included.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 · 2022-04-25T02:24:00Z

Changing from avoidance_factor > failed_reason

taikitanaka3 · 2022-04-27T00:57:00Z

planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp

-#include <tier4_planning_msgs/msg/avoidance_factor.hpp>
-#include <tier4_planning_msgs/msg/avoidance_info.hpp>
-#include <tier4_planning_msgs/msg/avoidance_info_array.hpp>
+#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>


@TakaHoribe @zulfaqar-azmi-t4
was there any advices that this message needs debug ~ ?
I think previous avoidance factor or avoidance info was better

I think this msg can have a debug

(might be a little bit late)
I think the message/debug variable is not used anywhere in the code base.
Therefore I believe it is better to have Debug added to tell the user (or future contributor) that the variable do not affect any of the avoidance_module code.

TakaHoribe

LGTM. Let's go get merged.

TakaHoribe · 2022-04-27T01:33:41Z

@zulfaqar-azmi-t4 About the debug msg interface, this is ok for now. I'll think if there is a better way to abstract the debug info for all modules, but it can be a separate PR.

codecov · 2022-04-28T03:06:49Z

Codecov Report

Merging #694 (c10b242) into main (78e3bb7) will decrease coverage by 0.14%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #694      +/-   ##
========================================
- Coverage   9.55%   9.40%   -0.15%     
========================================
  Files        921     921              
  Lines      57194   58101     +907     
  Branches    6830    6830              
========================================
  Hits        5467    5467              
- Misses     47225   48132     +907     
  Partials    4502    4502

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`9.55% <0.00%> (ø)`		Carriedforward from 78e3bb7

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

Impacted Files	Coverage Δ
...de/behavior_path_planner/behavior_tree_manager.hpp	`0.00% <ø> (ø)`
...lanner/scene_module/avoidance/avoidance_module.hpp	`0.00% <ø> (ø)`
...r/scene_module/avoidance/avoidance_module_data.hpp	`0.00% <ø> (ø)`
...th_planner/scene_module/scene_module_interface.hpp	`0.00% <0.00%> (ø)`
...lanner/include/behavior_path_planner/utilities.hpp	`0.00% <0.00%> (ø)`
...or_path_planner/src/behavior_path_planner_node.cpp	`0.00% <0.00%> (ø)`
...ehavior_path_planner/src/behavior_tree_manager.cpp	`0.00% <0.00%> (ø)`
...er/src/scene_module/avoidance/avoidance_module.cpp	`0.00% <0.00%> (ø)`
...ner/src/scene_module/avoidance/avoidance_utils.cpp	`0.00% <0.00%> (ø)`
... and 6 more

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* feat(behavior_path_planner): debug message for avoidance Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: make_shared for the pointers Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: pre-commit Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: remove related DEBUG_PRINT Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: naming, add debug to the variable name This is so that people can infer mutable to debug, therefore reducing the amount of time for debugging other things Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: object id is written as string instead of uint8x16 Also fix getUuidStr function to reflect the actual hex value. the function is moved to avoidance_util as it better served as helper function. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: fix spelling Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: display all 32 uuid characters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: remove unnecessary header Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat: support more debug message Note: need further refactoring, due to multiple similar code, plus duplicate printing. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix mutiplication by introducing global variables Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * header stamp to get the clock Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: renaming the type to show clearer intent of the type Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…owarefoundation#694) * feat(behavior_path_planner): debug message for avoidance Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: make_shared for the pointers Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: pre-commit Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: remove related DEBUG_PRINT Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: naming, add debug to the variable name This is so that people can infer mutable to debug, therefore reducing the amount of time for debugging other things Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: object id is written as string instead of uint8x16 Also fix getUuidStr function to reflect the actual hex value. the function is moved to avoidance_util as it better served as helper function. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: fix spelling Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: display all 32 uuid characters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: remove unnecessary header Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat: support more debug message Note: need further refactoring, due to multiple similar code, plus duplicate printing. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix mutiplication by introducing global variables Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * header stamp to get the clock Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: renaming the type to show clearer intent of the type Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix: behavior path multi thread Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * add mutex unlock Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat(behavior_path_planner): debug messages for failed avoidance (#694) * feat(behavior_path_planner): debug message for avoidance Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: make_shared for the pointers Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: pre-commit Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: remove related DEBUG_PRINT Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: naming, add debug to the variable name This is so that people can infer mutable to debug, therefore reducing the amount of time for debugging other things Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: object id is written as string instead of uint8x16 Also fix getUuidStr function to reflect the actual hex value. the function is moved to avoidance_util as it better served as helper function. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: fix spelling Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: display all 32 uuid characters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: remove unnecessary header Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat: support more debug message Note: need further refactoring, due to multiple similar code, plus duplicate printing. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix mutiplication by introducing global variables Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * header stamp to get the clock Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: renaming the type to show clearer intent of the type Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix(behavior_path_planner): getAvoidanceDebugMsgArray caused crash (#828) this is due to the assignment to pointer without guards in the function Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat: output avoidance debug array whenever the avoidance module is enabled (#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: behavior path avoidance debug Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>

…r4#694) * feat(behavior_path_planner): debug message for avoidance Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: make_shared for the pointers Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: pre-commit Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: remove related DEBUG_PRINT Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: naming, add debug to the variable name This is so that people can infer mutable to debug, therefore reducing the amount of time for debugging other things Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: object id is written as string instead of uint8x16 Also fix getUuidStr function to reflect the actual hex value. the function is moved to avoidance_util as it better served as helper function. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: fix spelling Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: display all 32 uuid characters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: remove unnecessary header Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat: support more debug message Note: need further refactoring, due to multiple similar code, plus duplicate printing. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix mutiplication by introducing global variables Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * header stamp to get the clock Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: renaming the type to show clearer intent of the type Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>

…dation#694) chore: change output topic of debug RViz panel Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* feat: change repos to latest autoware Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * chore: sync latest (autowarefoundation#505) * fix: fix typo vender -> vendor (autowarefoundation#504) * chore: sync files (autowarefoundation#497) Signed-off-by: GitHub <noreply@github.com> Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * fix: use hash for Autoware's Ansible Galaxy (autowarefoundation#506) * chore: remove kvaser role (autowarefoundation#491) * chore: remove kvaser roles (autowarefoundation#145) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: remove kvaser role (autowarefoundation#146) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * chore: sync files (autowarefoundation#507) * chore: sync files Signed-off-by: GitHub <noreply@github.com> * Update ansible-galaxy-requirements.yaml Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: GitHub <noreply@github.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: tier4-autoware-private-bot[bot] <87871706+tier4-autoware-private-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * [repos] add rclcpp to fix server connection failure in scenario test Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix(rclcpp): use humble retry patch branch (autowarefoundation#575) fix(rclcpp): use humble retry patch branch Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat: add sync from awf-latest -> awf-latest-xx1 (autowarefoundation#578) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: change launch repo (autowarefoundation#603) feat: change launch repo to awf/autoware_launch Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: remove unnecessary sync (autowarefoundation#611) * chore: remove unnecessary sync Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add new sync for reference design Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: remove rclcpp hotfix (autowarefoundation#610) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: add eagleye packages in autoware.repos Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * feat: use develop/planning_control scenario_simulator_v2 (autowarefoundation#633) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * chore(repos): update branch of `transport_drivers` (autowarefoundation#636) chore(repos): update repos Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore: update simulator.repos (autowarefoundation#685) update branch of scenario_simulator_v2 from develop/planning_control to master Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * feat: add run_out's stop margin (autowarefoundation#692) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: add j6_gen1 and ymc_golfcart_m0 description (autowarefoundation#693) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * revert: feat: add j6_gen1 and ymc_golfcart_m0 description (autowarefoundation#693) (autowarefoundation#694) Revert "feat: add j6_gen1 and ymc_golfcart_m0 description (autowarefoundation#693)" This reverts commit 46c1046c68e19404f3d430c8775d7c436266e125. * feat: add j6_gen1 and ymc_golfcart_m0 description (autowarefoundation#695) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: use awf-latest branch for universe and launcher (autowarefoundation#720) * feat: use awf-latest branch for universe and launcher Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update README.md Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * minor update Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix spell Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (autowarefoundation#708) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * feat: add get ml model script (autowarefoundation#730) * feat: add get_ml_model script (autowarefoundation#688) * feat: add get_ml_model script Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com> * style(pre-commit): autofix * fix: fix pre-commit Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com> Co-authored-by: 1222-takeshi <1222-takeshi@users.noreply.github.com> * feat: update model install script (autowarefoundation#690) Signed-off-by: Shin-kyoto <aquashin0202@gmail.com> --------- Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com> Signed-off-by: Shin-kyoto <aquashin0202@gmail.com> Co-authored-by: 1222-takeshi <1222-takeshi@users.noreply.github.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> * chore: remove no longer used ml_model_provider repo (autowarefoundation#731) Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * chore: sync files (autowarefoundation#738) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * awf pr 4212 Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com> * feat: update README.md (autowarefoundation#765) * feat: update README.md Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove sync-awf-latest Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix typo Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: GitHub <noreply@github.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com> Signed-off-by: Shin-kyoto <aquashin0202@gmail.com> Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: tier4-autoware-private-bot[bot] <87871706+tier4-autoware-private-bot[bot]@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: kminoda <kminoda@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: Takeshi Miura <m.takeshi1995@gmail.com> Co-authored-by: 1222-takeshi <1222-takeshi@users.noreply.github.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>

chore: sync awf-latest

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zulfaqar-azmi-t4 marked this pull request as ready for review April 15, 2022 01:13

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zulfaqar-azmi-t4 commented Apr 18, 2022

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feat: new avoidance msgs for debug tier4/tier4_autoware_msgs#21

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TakaHoribe reviewed Apr 18, 2022

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zulfaqar-azmi-t4 marked this pull request as draft April 19, 2022 14:16

zulfaqar-azmi-t4 added 11 commits April 22, 2022 11:34

feat(behavior_path_planner): debug message for avoidance

0f37b8d

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

fix: make_shared for the pointers

2371be5

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

chore: pre-commit

cc8a0bc

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

fix: remove related DEBUG_PRINT

913a957

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

chore: naming, add debug to the variable name

18f1508

This is so that people can infer mutable to debug, therefore reducing the amount of time for debugging other things Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

fix: object id is written as string instead of uint8x16

3bfebd4

Also fix getUuidStr function to reflect the actual hex value. the function is moved to avoidance_util as it better served as helper function. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

chore: fix spelling

ecba77c

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

fix: display all 32 uuid characters

a038953

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

chore: remove unnecessary header

e44d656

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

feat: support more debug message

52bf0af

Note: need further refactoring, due to multiple similar code, plus duplicate printing. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

fix mutiplication by introducing global variables

e1e6ff5

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 force-pushed the 485-output-avoidance-information-for-debug branch from 9a414e1 to e1e6ff5 Compare April 22, 2022 04:21

header stamp to get the clock

2bba119

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 marked this pull request as ready for review April 22, 2022 05:09

fix: renaming the type to show clearer intent of the type

4591b2f

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

taikitanaka3 reviewed Apr 27, 2022

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TakaHoribe self-requested a review April 27, 2022 01:31

TakaHoribe approved these changes Apr 27, 2022

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Merge branch 'main' into 485-output-avoidance-information-for-debug

c10b242

tkimura4 enabled auto-merge (squash) April 28, 2022 02:57

tkimura4 merged commit 5541f1d into autowarefoundation:main Apr 28, 2022

zulfaqar-azmi-t4 deleted the 485-output-avoidance-information-for-debug branch April 28, 2022 04:38

tier4-autoware-public-bot bot mentioned this pull request Apr 29, 2022

chore: sync upstream tier4/autoware.universe#42

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tkimura4 mentioned this pull request Jun 8, 2022

feat(behavior_path_planner): add avoidance debug tier4/autoware.universe#60

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7 tasks

Kazunori-Nakajima pushed a commit to Kazunori-Nakajima/autoware.universe that referenced this pull request Feb 6, 2025

Merge pull request autowarefoundation#694 from tier4/sync-awf-latest

67ca494

chore: sync awf-latest

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feat(behavior_path_planner): debug messages for failed avoidance #694

feat(behavior_path_planner): debug messages for failed avoidance #694

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feat(behavior_path_planner): debug messages for failed avoidance #694

feat(behavior_path_planner): debug messages for failed avoidance #694

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