feat(static_obstacle_avoidance): enable force execution under unsafe conditions #8094

go-sakayori · 2024-07-18T09:10:37Z

Description

When static obstacle avoidance was force activated by operators under unsafe condition, the yield maneuver activates and the avoidance is canceled.
Although, when force activated it should activate the avoidance maneuver (never cancel) regardless to the safe/unsafe judgement inside the module. This PR enables static obstacle avoidance once the the avoidance path is force activated via RTC.

How was this PR tested?

Psim
Before
After

TIER IV internal test

Notes for reviewers

The RTC interface module is changed as well

Interface changes

None.

Effects on system behavior

None.

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

github-actions · 2024-07-18T09:10:53Z

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Signed-off-by: Go Sakayori <gsakayori@gmail.com>

planning/autoware_rtc_interface/src/rtc_interface.cpp

.../behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

codecov · 2024-07-19T02:03:31Z

Codecov Report

Attention: Patch coverage is 0% with 40 lines in your changes missing coverage. Please review.

Project coverage is 28.99%. Comparing base (9256892) to head (ea86b4b).
Report is 8 commits behind head on main.

Files	Patch %	Lines
...ath_static_obstacle_avoidance_module/src/scene.cpp	0.00%	21 Missing ⚠️
...or_path_static_obstacle_avoidance_module/scene.hpp	0.00%	10 Missing ⚠️
...nning/autoware_rtc_interface/src/rtc_interface.cpp	0.00%	9 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8094      +/-   ##
==========================================
- Coverage   29.00%   28.99%   -0.02%     
==========================================
  Files        1608     1612       +4     
  Lines      117845   117910      +65     
  Branches    50726    50747      +21     
==========================================
  Hits        34186    34186              
- Misses      74444    74509      +65     
  Partials     9215     9215

Flag	Coverage Δ		*Carryforward flag
differential	`19.85% <0.00%> (?)`
total	`29.01% <ø> (+<0.01%)`	⬆️	Carriedforward from 9256892

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

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satoshi-ota

LGTM 👍

…conditions (autowarefoundation#8094) * add force execution for static obstacle avoidance Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix Signed-off-by: Go Sakayori <gsakayori@gmail.com> * erase unused function in RTC interface Signed-off-by: Go Sakayori <gsakayori@gmail.com> * refactor with lamda function Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix rtc_interface Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * add warn throtthle and move code block Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix Signed-off-by: Go Sakayori <gsakayori@gmail.com> --------- Signed-off-by: Go Sakayori <gsakayori@gmail.com> Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

…conditions (autowarefoundation#8094) * add force execution for static obstacle avoidance Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix Signed-off-by: Go Sakayori <gsakayori@gmail.com> * erase unused function in RTC interface Signed-off-by: Go Sakayori <gsakayori@gmail.com> * refactor with lamda function Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix rtc_interface Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * add warn throtthle and move code block Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix Signed-off-by: Go Sakayori <gsakayori@gmail.com> --------- Signed-off-by: Go Sakayori <gsakayori@gmail.com> Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

go-sakayori added 3 commits July 18, 2024 15:57

add force execution for static obstacle avoidance

3bb796e

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

fix

bdf8e38

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

erase unused function in RTC interface

3d8bd21

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jul 18, 2024

refactor with lamda function

d2997e2

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

go-sakayori marked this pull request as ready for review July 18, 2024 22:45

go-sakayori requested review from rej55, kyoichi-sugahara, satoshi-ota, shmpwk, TakaHoribe, TomohitoAndo, tkimura4, zulfaqar-azmi-t4 and taikitanaka3 as code owners July 18, 2024 22:45