diff --git a/.github/workflows/custom_spell.json b/.github/workflows/custom_spell.json index cecc85a3aab..b9638744476 100644 --- a/.github/workflows/custom_spell.json +++ b/.github/workflows/custom_spell.json @@ -41,6 +41,7 @@ "TESTRANDOMIZER", "travelling", "Tschirnhaus", + "walltime", "xerces", "xercesc", "yamacir-kit" diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index bb1c186edec..330d9aa24aa 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index e4350ce9d90..6e6b99eecc8 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.0.4 + 4.1.1 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 40ae1062b6b..bb6fe0f336a 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,49 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge pull request `#1353 `_ from tier4/RJD-1278/fix-line-segment + Rjd 1278/fix line segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* make const members public +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* remove{} +* expand on the note, add else to if-stmts +* note +* add else to if statements +* rename getSlope, add consts +* remove unnecessary lambda +* simplify denormalize logic +* use has_value +* rename getIntersection2DSValue, minor logical fixes regarding 2D vs 3D +* LineSegment 2D vs 3D indistinction fixes +* return const& and remove implicit conversions +* vector fields for LineSegment class, cleanup +* use isInBounds function +* combine 2 PR, apply review requests +* Merge branch 'RJD-1278/fix-1344-getIntersection2DSValue' of github.com:tier4/scenario_simulator_v2 into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* isIntesect2D initial solution +* 1344 fix initial solution +* Contributors: Masaya Kataoka, Michał Ciasnocha, robomic + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/common/math/geometry/include/geometry/polygon/line_segment.hpp b/common/math/geometry/include/geometry/polygon/line_segment.hpp index ec17419f31d..8ba0f98bc0c 100644 --- a/common/math/geometry/include/geometry/polygon/line_segment.hpp +++ b/common/math/geometry/include/geometry/polygon/line_segment.hpp @@ -29,6 +29,13 @@ namespace geometry class LineSegment { public: + const geometry_msgs::msg::Point start_point; + const geometry_msgs::msg::Point end_point; + const geometry_msgs::msg::Vector3 vector; + const geometry_msgs::msg::Vector3 vector_2d; + const double length; + const double length_2d; + LineSegment( const geometry_msgs::msg::Point & start_point, const geometry_msgs::msg::Point & end_point); LineSegment( @@ -36,36 +43,34 @@ class LineSegment double length); ~LineSegment(); LineSegment & operator=(const LineSegment &); - const geometry_msgs::msg::Point start_point; - const geometry_msgs::msg::Point end_point; + + auto isIntersect2D(const geometry_msgs::msg::Point & point) const -> bool; + auto isIntersect2D(const LineSegment & line) const -> bool; + auto isInBounds2D(const geometry_msgs::msg::Point & point) const -> bool; + auto getPoint(const double s, const bool denormalize_s = false) const -> geometry_msgs::msg::Point; auto getPose(const double s, const bool denormalize_s = false, const bool fill_pitch = true) const -> geometry_msgs::msg::Pose; - auto isIntersect2D(const geometry_msgs::msg::Point & point) const -> bool; - auto isIntersect2D(const LineSegment & l0) const -> bool; - auto getIntersection2DSValue( + auto get2DIntersectionSValue( const geometry_msgs::msg::Point & point, const bool denormalize_s = false) const -> std::optional; - auto getIntersection2DSValue(const LineSegment & line, const bool denormalize_s = false) const + auto get2DIntersectionSValue(const LineSegment & line, const bool denormalize_s = false) const -> std::optional; auto getIntersection2D(const LineSegment & line) const -> std::optional; auto getSValue( const geometry_msgs::msg::Pose & pose, double threshold_distance, bool denormalize_s) const -> std::optional; - auto getVector() const -> geometry_msgs::msg::Vector3; auto getNormalVector() const -> geometry_msgs::msg::Vector3; - auto get2DVector() const -> geometry_msgs::msg::Vector3; - auto getLength() const -> double; - auto get2DLength() const -> double; - auto getSlope() const -> double; + auto get2DVectorSlope() const -> double; auto getSquaredDistanceIn2D( const geometry_msgs::msg::Point & point, const double s, const bool denormalize_s = false) const -> double; auto getSquaredDistanceVector( const geometry_msgs::msg::Point & point, const double s, const bool denormalize_s = false) const -> geometry_msgs::msg::Vector3; + auto relativePointPosition2D(const geometry_msgs::msg::Point & point) const -> int; private: auto denormalize(const std::optional & s, const bool throw_error_on_out_of_range = true) diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index c2752bdd76e..4efabccc4ab 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.0.4 + 4.1.1 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/math/geometry/src/intersection/intersection.cpp b/common/math/geometry/src/intersection/intersection.cpp index 07a32df0b9a..85f0b691809 100644 --- a/common/math/geometry/src/intersection/intersection.cpp +++ b/common/math/geometry/src/intersection/intersection.cpp @@ -13,7 +13,9 @@ // limitations under the License. #include +#include #include +#include namespace math { @@ -21,22 +23,23 @@ namespace geometry { bool isIntersect2D(const LineSegment & line0, const LineSegment & line1) { - double s, t; - s = (line0.start_point.x - line0.end_point.x) * (line1.start_point.y - line0.start_point.y) - - (line0.start_point.y - line0.end_point.y) * (line1.start_point.x - line0.start_point.x); - t = (line0.start_point.x - line0.end_point.x) * (line1.end_point.y - line0.start_point.y) - - (line0.start_point.y - line0.end_point.y) * (line1.end_point.x - line0.start_point.x); - if (s * t > 0) { - return false; - } - s = (line1.start_point.x - line1.end_point.x) * (line0.start_point.y - line1.start_point.y) - - (line1.start_point.y - line1.end_point.y) * (line0.start_point.x - line1.start_point.x); - t = (line1.start_point.x - line1.end_point.x) * (line0.end_point.y - line1.start_point.y) - - (line1.start_point.y - line1.end_point.y) * (line0.end_point.x - line1.start_point.x); - if (s * t > 0) { - return false; + const auto &p0 = line0.start_point, &q0 = line0.end_point; + const auto &p1 = line1.start_point, &q1 = line1.end_point; + + const int relative_position_p0 = line1.relativePointPosition2D(p0); + const int relative_position_q0 = line1.relativePointPosition2D(q0); + const int relative_position_p1 = line0.relativePointPosition2D(p1); + const int relative_position_q1 = line0.relativePointPosition2D(q1); + + if ( + relative_position_p1 == 0 && relative_position_q1 == 0 && relative_position_p0 == 0 && + relative_position_q0 == 0) { + return line0.isInBounds2D(p1) || line0.isInBounds2D(q1) || line1.isInBounds2D(p0) || + line1.isInBounds2D(q0); + } else { + return relative_position_p1 != relative_position_q1 && + relative_position_p0 != relative_position_q0; } - return true; } bool isIntersect2D(const std::vector & lines) @@ -54,21 +57,35 @@ bool isIntersect2D(const std::vector & lines) std::optional getIntersection2D( const LineSegment & line0, const LineSegment & line1) { - if (!isIntersect2D(line0, line1)) { + if (not line0.isIntersect2D(line1)) { return std::nullopt; + } else { + // 'line0' represented as a0x + b0y = c0 + const double a0 = line0.vector_2d.y; + const double b0 = -line0.vector_2d.x; + const double c0 = a0 * line0.start_point.x + b0 * line0.start_point.y; + + // 'line1' represented as a1x + b1y = c1 + const double a1 = line1.vector_2d.y; + const double b1 = -line1.vector_2d.x; + const double c1 = a1 * line1.start_point.x + b1 * line1.start_point.y; + + const double determinant = a0 * b1 - a1 * b0; + + if (std::abs(determinant) <= std::numeric_limits::epsilon()) { + // The lines do intersect, but they are collinear and overlap. + THROW_SIMULATION_ERROR( + "Line segments are collinear. So determinant is zero.", + "If this message was displayed, something completely unexpected happens.", + "This message is not originally intended to be displayed, if you see it, please " + "contact the developer of traffic_simulator."); + } else { + return geometry_msgs::build() + .x((b1 * c0 - b0 * c1) / determinant) + .y((a0 * c1 - a1 * c0) / determinant) + .z(0.0); + } } - const auto det = - (line0.start_point.x - line0.end_point.x) * (line1.end_point.y - line1.start_point.y) - - (line1.end_point.x - line1.start_point.x) * (line0.start_point.y - line0.end_point.y); - const auto t = - ((line1.end_point.y - line1.start_point.y) * (line1.end_point.x - line0.end_point.x) + - (line1.start_point.x - line1.end_point.x) * (line1.end_point.y - line0.end_point.y)) / - det; - geometry_msgs::msg::Point point; - point.x = t * line0.start_point.x + (1.0 - t) * line0.end_point.x; - point.y = t * line0.start_point.y + (1.0 - t) * line0.end_point.y; - point.z = t * line0.start_point.z + (1.0 - t) * line0.end_point.z; - return point; } std::vector getIntersection2D(const std::vector & lines) diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 5238a24b307..b3b71a13b13 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include #include #include #include @@ -28,27 +29,37 @@ namespace geometry { LineSegment::LineSegment( const geometry_msgs::msg::Point & start_point, const geometry_msgs::msg::Point & end_point) -: start_point(start_point), end_point(end_point) +: start_point(start_point), + end_point(end_point), + vector(geometry_msgs::build() + .x(end_point.x - start_point.x) + .y(end_point.y - start_point.y) + .z(end_point.z - start_point.z)), + vector_2d(geometry_msgs::build() + .x(end_point.x - start_point.x) + .y(end_point.y - start_point.y) + .z(0.0)), + length(hypot(end_point, start_point)), + length_2d(std::hypot(end_point.x - start_point.x, end_point.y - start_point.y)) { } LineSegment::LineSegment( const geometry_msgs::msg::Point & start_point, const geometry_msgs::msg::Vector3 & vec, - double length) -: start_point(start_point), end_point([&]() -> geometry_msgs::msg::Point { - geometry_msgs::msg::Point ret; - double vec_size = std::hypot(vec.x, vec.y); - if (vec_size == 0.0) { + const double length) +: LineSegment::LineSegment(start_point, [&]() -> geometry_msgs::msg::Point { + if (const double vec_size = std::hypot(vec.x, vec.y); vec_size == 0.0) { THROW_SIMULATION_ERROR( "Invalid vector is specified, while constructing LineSegment. ", "The vector should have a non zero length to initialize the line segment correctly. ", "This message is not originally intended to be displayed, if you see it, please " "contact the developer of traffic_simulator."); + } else { + return geometry_msgs::build() + .x(start_point.x + vec.x / vec_size * length) + .y(start_point.y + vec.y / vec_size * length) + .z(start_point.z + vec.z / vec_size * length); } - ret.x = start_point.x + vec.x / vec_size * length; - ret.y = start_point.y + vec.y / vec_size * length; - ret.z = start_point.z + vec.z / vec_size * length; - return ret; }()) { } @@ -64,25 +75,24 @@ LineSegment::~LineSegment() {} auto LineSegment::getPoint(const double s, const bool denormalize_s) const -> geometry_msgs::msg::Point { - const double s_normalized = denormalize_s ? s / getLength() : s; - if (0 <= s_normalized && s_normalized <= 1) { + const double s_normalized = denormalize_s ? s / length : s; + if (0.0 <= s_normalized && s_normalized <= 1.0) { return geometry_msgs::build() - .x(start_point.x + (end_point.x - start_point.x) * s_normalized) - .y(start_point.y + (end_point.y - start_point.y) * s_normalized) - .z(start_point.z + (end_point.z - start_point.z) * s_normalized); - } - if (denormalize_s) { + .x(start_point.x + vector.x * s_normalized) + .y(start_point.y + vector.y * s_normalized) + .z(start_point.z + vector.z * s_normalized); + } else if (denormalize_s) { THROW_SIMULATION_ERROR( "Invalid S value is specified, while getting point on a line segment.", - "The range of s_normalized value should be in range [0,", getLength(), "].", - "But, your values are = ", s, " and length = ", getLength(), + "The range of s_normalized value should be in range [0,", length, "].", + "But, your values are = ", s, " and length = ", length, " This message is not originally intended to be displayed, if you see it, please " "contact the developer of traffic_simulator."); } else { THROW_SIMULATION_ERROR( "Invalid S value is specified, while getting point on a line segment.", "The range of s_normalized value should be in range [0,1].", "But, your values are = ", s, - " and length = ", getLength(), + " and length = ", length, " This message is not originally intended to be displayed, if you see it, please " "contact the developer of traffic_simulator."); } @@ -101,65 +111,55 @@ auto LineSegment::getPose(const double s, const bool denormalize_s, const bool f { return geometry_msgs::build() .position(getPoint(s, denormalize_s)) - .orientation([this, fill_pitch]() -> geometry_msgs::msg::Quaternion { - const auto tangent_vec = getVector(); - return math::geometry::convertEulerAngleToQuaternion( - geometry_msgs::build() - .x(0.0) - .y( - fill_pitch ? std::atan2(-tangent_vec.z, std::hypot(tangent_vec.x, tangent_vec.y)) : 0.0) - .z(std::atan2(tangent_vec.y, tangent_vec.x))); - }()); + .orientation(math::geometry::convertEulerAngleToQuaternion( + geometry_msgs::build() + .x(0.0) + .y(fill_pitch ? std::atan2(-vector.z, std::hypot(vector.x, vector.y)) : 0.0) + .z(std::atan2(vector.y, vector.x)))); } /** * @brief Checking the intersection with 1 line segment and 1 point in 2D (x,y) coordinate. Ignore z axis. * @param point point you want to check intersection. * @return true Intersection detected. - * @return false Intersection does not detected. + * @return false Intersection not detected. */ auto LineSegment::isIntersect2D(const geometry_msgs::msg::Point & point) const -> bool { - return getIntersection2DSValue(point, true) ? true : false; + if (isInBounds2D(point)) { + const double cross_product = + (point.y - start_point.y) * vector_2d.x - (point.x - start_point.x) * vector_2d.y; + constexpr double tolerance = std::numeric_limits::epsilon(); + return std::abs(cross_product) <= length_2d * tolerance; + } else { + return false; + } } auto LineSegment::getSValue( const geometry_msgs::msg::Pose & pose, double threshold_distance, bool denormalize_s) const -> std::optional { - return getIntersection2DSValue( + return get2DIntersectionSValue( LineSegment( math::geometry::transformPoint( - pose, geometry_msgs::build().x(0).y(threshold_distance).z(0)), + pose, + geometry_msgs::build().x(0.0).y(threshold_distance).z(0.0)), math::geometry::transformPoint( - pose, geometry_msgs::build().x(0).y(-threshold_distance).z(0))), + pose, + geometry_msgs::build().x(0.0).y(-threshold_distance).z(0.0))), denormalize_s); } /** * @brief Checking the intersection with 2 line segments in 2D (x,y) coordinate. Ignore z axis. - * @param l0 line segments you want to check intersection. + * @param line line segments you want to check intersection. * @return true Intersection detected. - * @return false Intersection does not detected. + * @return false Intersection not detected. */ -auto LineSegment::isIntersect2D(const LineSegment & l0) const -> bool +auto LineSegment::isIntersect2D(const LineSegment & line) const -> bool { - double s, t; - s = (l0.start_point.x - l0.end_point.x) * (start_point.y - l0.start_point.y) - - (l0.start_point.y - l0.end_point.y) * (start_point.x - l0.start_point.x); - t = (l0.start_point.x - l0.end_point.x) * (end_point.y - l0.start_point.y) - - (l0.start_point.y - l0.end_point.y) * (end_point.x - l0.start_point.x); - if (s * t > 0) { - return false; - } - s = (start_point.x - end_point.x) * (l0.start_point.y - start_point.y) - - (start_point.y - end_point.y) * (l0.start_point.x - start_point.x); - t = (start_point.x - end_point.x) * (l0.end_point.y - start_point.y) - - (start_point.y - end_point.y) * (l0.end_point.x - start_point.x); - if (s * t > 0) { - return false; - } - return true; + return math::geometry::isIntersect2D(*this, line); } /** @@ -167,35 +167,22 @@ auto LineSegment::isIntersect2D(const LineSegment & l0) const -> bool * @param point point of you want to find intersection. * @return std::optional */ -auto LineSegment::getIntersection2DSValue( +auto LineSegment::get2DIntersectionSValue( const geometry_msgs::msg::Point & point, const bool denormalize_s) const -> std::optional { - const auto get_s_normalized = [this](const auto & point) -> std::optional { - const auto get_s_from_x = [this](const auto & point) { - const auto s = (point.x - start_point.x) / (end_point.x - start_point.x); - return 0 <= s && s <= 1 ? s : std::optional(); - }; - const auto get_s_from_y = [this](const auto & point) { - const auto s = (point.y - start_point.y) / (end_point.y - start_point.y); - return 0 <= s && s <= 1 ? s : std::optional(); - }; - constexpr double epsilon = std::numeric_limits::epsilon(); - if (std::abs(end_point.x - start_point.x) <= epsilon) { - if (std::abs(end_point.y - start_point.y) <= epsilon) { - /// @note If start_point and end_point is a same point, checking the point is same as end_point or not. - return (std::abs(end_point.x - point.x) <= epsilon && - std::abs(end_point.y - point.y) <= epsilon) - ? std::optional(0) - : std::optional(); - } - /// @note If the line segment is parallel to y axis, calculate s value from y axis value. - return std::abs(point.x - start_point.x) <= epsilon ? get_s_from_y(point) - : std::optional(); - } - /// @note If the line segment is not parallel to x and y axis, calculate s value from x axis value. - return get_s_from_x(point); - }; - return denormalize_s ? denormalize(get_s_normalized(point)) : get_s_normalized(point); + /// @note This function checks for an SValue along the line. + /// The term "2D" in the function name specifically refers to the intersection point, not the SValue. + /// Therefore, the intersection is determined by disregarding the z-coordinate, hence the term "2D." + /// After finding the intersection, we calculate its position using a proportion. + /// Finally, we multiply this proportion by the actual 3D length to obtain the total SValue. + if (isIntersect2D(point)) { + const double proportion_2d = + std::hypot(point.x - start_point.x, point.y - start_point.y) / length_2d; + return denormalize_s ? std::make_optional(proportion_2d * length) + : std::make_optional(proportion_2d); + } else { + return std::nullopt; + } } /** @@ -204,33 +191,14 @@ auto LineSegment::getIntersection2DSValue( * @param denormalize_s If true, s value should be normalized in range [0,1]. If false, s value is not normalized. * @return std::optional */ -auto LineSegment::getIntersection2DSValue(const LineSegment & line, const bool denormalize_s) const +auto LineSegment::get2DIntersectionSValue(const LineSegment & line, const bool denormalize_s) const -> std::optional { - /// @note Hard coded parameter, this parameter describes the tolerance of the range of s value (-s_tolerance ~ 1.0 + s_tolerance) - constexpr double s_tolerance = 1e-10; - const auto get_s_normalized = [this](const auto & line) -> std::optional { - if (!isIntersect2D(line)) { - return std::optional(); - } - const double det = (start_point.x - end_point.x) * (line.end_point.y - line.start_point.y) - - (line.end_point.x - line.start_point.x) * (start_point.y - end_point.y); - const double s = - 1 - ((line.end_point.y - line.start_point.y) * (line.end_point.x - end_point.x) + - (line.start_point.x - line.end_point.x) * (line.end_point.y - end_point.y)) / - det; - if (std::isnan(s)) { - THROW_SIMULATION_ERROR( - "One line segment is on top of the other. So determinant is zero.", - "If this message was displayed, something completely unexpected happens.", - "This message is not originally intended to be displayed, if you see it, please " - "contact the developer of traffic_simulator."); - } - return (-s_tolerance <= s && s <= 1 + s_tolerance) - ? std::optional(std::clamp(s, 0.0, 1.0)) - : std::optional(); - }; - return denormalize_s ? denormalize(get_s_normalized(line)) : get_s_normalized(line); + if (const auto point = getIntersection2D(line); point.has_value()) { + return get2DIntersectionSValue(point.value(), denormalize_s); + } else { + return std::nullopt; + } } /** @@ -241,23 +209,7 @@ auto LineSegment::getIntersection2DSValue(const LineSegment & line, const bool d auto LineSegment::getIntersection2D(const LineSegment & line) const -> std::optional { - const auto s = getIntersection2DSValue(line, false); - return s ? geometry_msgs::build() - .x(s.value() * start_point.x + (1.0 - s.value()) * end_point.x) - .y(s.value() * start_point.y + (1.0 - s.value()) * end_point.y) - .z(s.value() * start_point.z + (1.0 - s.value()) * end_point.z) - : std::optional(); -} - -auto LineSegment::getVector() const -> geometry_msgs::msg::Vector3 -{ - using math::geometry::operator-; - const auto result_pt = end_point - start_point; - auto result = geometry_msgs::msg::Vector3(); - result.x = result_pt.x; - result.y = result_pt.y; - result.z = result_pt.z; - return result; + return math::geometry::getIntersection2D(*this, line); } /** @@ -266,32 +218,20 @@ auto LineSegment::getVector() const -> geometry_msgs::msg::Vector3 */ auto LineSegment::getNormalVector() const -> geometry_msgs::msg::Vector3 { - geometry_msgs::msg::Vector3 tangent_vec = getVector(); - double theta = M_PI / 2.0; + const double theta = M_PI / 2.0; return geometry_msgs::build() - .x(tangent_vec.x * std::cos(theta) - tangent_vec.y * std::sin(theta)) - .y(tangent_vec.x * std::sin(theta) + tangent_vec.y * std::cos(theta)) - .z(0); + .x(vector.x * std::cos(theta) - vector.y * std::sin(theta)) + .y(vector.x * std::sin(theta) + vector.y * std::cos(theta)) + .z(0.0); } -auto LineSegment::get2DVector() const -> geometry_msgs::msg::Vector3 +auto LineSegment::get2DVectorSlope() const -> double { - return geometry_msgs::build() - .x(end_point.x - start_point.x) - .y(end_point.y - start_point.y) - .z(0); -} - -auto LineSegment::get2DLength() const -> double -{ - return std::hypot(end_point.x - start_point.x, end_point.y - start_point.y); -} - -auto LineSegment::getLength() const -> double { return hypot(end_point, start_point); } - -auto LineSegment::getSlope() const -> double -{ - return (end_point.y - start_point.y) / (end_point.x - start_point.x); + if (vector_2d.x <= std::numeric_limits::epsilon()) { + THROW_SIMULATION_ERROR("Slope of a vertical line is undefined"); + } else { + return vector_2d.y / vector_2d.x; + } } /** @@ -337,10 +277,11 @@ auto LineSegment::denormalize( const std::optional & s, const bool throw_error_on_out_of_range) const -> std::optional { - if (!throw_error_on_out_of_range && s && !(0 <= s.value() && s.value() <= 1)) { - return std::optional(); + if (!s.has_value() || (!throw_error_on_out_of_range && !(0.0 <= s.value() && s.value() <= 1.0))) { + return std::nullopt; + } else { + return std::make_optional(denormalize(s.value())); } - return s ? denormalize(s.value()) : std::optional(); } /** @@ -350,13 +291,14 @@ auto LineSegment::denormalize( */ auto LineSegment::denormalize(const double s) const -> double { - if (0 <= s && s <= 1) { - return s * getLength(); + if (0.0 <= s && s <= 1.0) { + return s * length; + } else { + THROW_SIMULATION_ERROR( + "Invalid normalized s value, s = ", s, ", S value should be in range [0,1].", + "This message is not originally intended to be displayed, if you see it, please " + "contact the developer of traffic_simulator."); } - THROW_SIMULATION_ERROR( - "Invalid normalized s value, s = ", s, ", S value should be in range [0,1].", - "This message is not originally intended to be displayed, if you see it, please " - "contact the developer of traffic_simulator."); } LineSegment & LineSegment::operator=(const LineSegment &) { return *this; } @@ -386,5 +328,43 @@ auto getLineSegments( } } +/** + * @brief Checks if the given point lies within the bounding box of the line segment. + * @param point Points you want to test. + * @return + * - `true` if the points is within the bounds. + * - `false` otherwise. + */ +auto LineSegment::isInBounds2D(const geometry_msgs::msg::Point & point) const -> bool +{ + return ( + point.x >= std::min(start_point.x, end_point.x) && + point.x <= std::max(start_point.x, end_point.x) && + point.y >= std::min(start_point.y, end_point.y) && + point.y <= std::max(start_point.y, end_point.y)); +} + +/** + * @brief Determines the relative position of a point with respect to the line segment. + * + * This method computes the relative position of a given point with respect to the line segment defined by + * `start_point` and `end_point` using a cross product. The result indicates on which side of the line + * segment the point lies. + * + * @param point The point to be evaluated. + * @return + * - `1` if the point is to the left of the line segment (when moving from `start_point` to `end_point`). + * - `-1` if the point is to the right of the line segment. + * - `0` if the point is collinear with the line segment (i.e., lies exactly on the line defined by + * `start_point` and `end_point`). + */ +auto LineSegment::relativePointPosition2D(const geometry_msgs::msg::Point & point) const -> int +{ + constexpr double tolerance = std::numeric_limits::epsilon(); + const double determinant = + vector_2d.y * (point.x - end_point.x) - vector_2d.x * (point.y - end_point.y); + return static_cast(determinant > tolerance) - static_cast(determinant < -tolerance); +} + } // namespace geometry } // namespace math diff --git a/common/math/geometry/src/spline/catmull_rom_spline.cpp b/common/math/geometry/src/spline/catmull_rom_spline.cpp index 523b6f28099..01dafbf7594 100644 --- a/common/math/geometry/src/spline/catmull_rom_spline.cpp +++ b/common/math/geometry/src/spline/catmull_rom_spline.cpp @@ -139,7 +139,7 @@ CatmullRomSpline::CatmullRomSpline(const std::vector break; /// @note In this case, spline is interpreted as line segment. case 2: - total_length_ = line_segments_[0].getLength(); + total_length_ = line_segments_[0].length; break; /// @note In this case, spline is interpreted as curve. default: @@ -316,7 +316,7 @@ auto CatmullRomSpline::getCollisionPointsIn2D( "This message is not originally intended to be displayed, if you see it, please " "contact the developer of traffic_simulator."); } - if (const auto s = line_segments_[0].getIntersection2DSValue(line, true)) { + if (const auto s = line_segments_[0].get2DIntersectionSValue(line, true)) { s_value_candidates.insert(s.value()); } } @@ -628,7 +628,7 @@ auto CatmullRomSpline::getTangentVector(const double s) const -> geometry_msgs:: "contact the developer of traffic_simulator."); } if (0 <= s && s <= getLength()) { - return line_segments_[0].getVector(); + return line_segments_[0].vector; } THROW_SIMULATION_ERROR( "Invalid S value is specified, while getting tangent vector.", diff --git a/common/math/geometry/test/test_intersection.cpp b/common/math/geometry/test/test_intersection.cpp index 4ee95a08cd9..06b8925bbca 100644 --- a/common/math/geometry/test/test_intersection.cpp +++ b/common/math/geometry/test/test_intersection.cpp @@ -16,6 +16,7 @@ #include #include +#include #include "expect_eq_macros.hpp" #include "test_utils.hpp" @@ -108,9 +109,7 @@ TEST(Intersection, getIntersection2DIntersectVector) TEST(Intersection, getIntersection2DIdentical) { math::geometry::LineSegment line(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - auto ans = math::geometry::getIntersection2D(line, line); - EXPECT_TRUE(ans); - EXPECT_POINT_NAN(ans.value()); + EXPECT_THROW(math::geometry::getIntersection2D(line, line), common::SimulationError); } TEST(Intersection, getIntersection2DIdenticalVector) @@ -121,14 +120,7 @@ TEST(Intersection, getIntersection2DIdenticalVector) lines.push_back(line); lines.push_back(line); - auto ans = math::geometry::getIntersection2D(lines); - EXPECT_EQ(ans.size(), size_t(6)); - EXPECT_POINT_NAN(ans[0]); - EXPECT_POINT_NAN(ans[1]); - EXPECT_POINT_NAN(ans[2]); - EXPECT_POINT_NAN(ans[3]); - EXPECT_POINT_NAN(ans[4]); - EXPECT_POINT_NAN(ans[5]); + EXPECT_THROW(math::geometry::getIntersection2D(lines), common::SimulationError); } TEST(Intersection, getIntersection2DEmptyVector) diff --git a/common/math/geometry/test/test_line_segment.cpp b/common/math/geometry/test/test_line_segment.cpp index 4c21cc35626..c7f6aeb6067 100644 --- a/common/math/geometry/test/test_line_segment.cpp +++ b/common/math/geometry/test/test_line_segment.cpp @@ -99,13 +99,13 @@ TEST(LineSegment, getIntersection2DDisjoint) TEST(LineSegment, getVector) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0)); - EXPECT_VECTOR3_EQ(line.getVector(), makeVector(1.0, 1.0, 1.0)); + EXPECT_VECTOR3_EQ(line.vector, makeVector(1.0, 1.0, 1.0)); } TEST(LineSegment, getVectorZeroLength) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(1.0, 2.0, 3.0)); - EXPECT_VECTOR3_EQ(line.getVector(), makeVector(0.0, 0.0, 0.0)); + EXPECT_VECTOR3_EQ(line.vector, makeVector(0.0, 0.0, 0.0)); } TEST(LineSegment, getNormalVector) @@ -123,49 +123,49 @@ TEST(LineSegment, getNormalVector_zeroLength) TEST(LineSegment, get2DVector) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0)); - EXPECT_VECTOR3_EQ(line.get2DVector(), makeVector(1.0, 1.0, 0.0)); + EXPECT_VECTOR3_EQ(line.vector_2d, makeVector(1.0, 1.0, 0.0)); } TEST(LineSegment, get2DVectorZeroLength) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(1.0, 2.0, 3.0)); - EXPECT_VECTOR3_EQ(line.get2DVector(), makeVector(0.0, 0.0, 0.0)); + EXPECT_VECTOR3_EQ(line.vector_2d, makeVector(0.0, 0.0, 0.0)); } TEST(LineSegment, getLength) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0)); - EXPECT_DOUBLE_EQ(line.getLength(), std::sqrt(3.0)); + EXPECT_DOUBLE_EQ(line.length, std::sqrt(3.0)); } TEST(LineSegment, getLengthZeroLength) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(1.0, 2.0, 3.0)); - EXPECT_DOUBLE_EQ(line.getLength(), 0.0); + EXPECT_DOUBLE_EQ(line.length, 0.0); } TEST(LineSegment, get2DLength) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0)); - EXPECT_DOUBLE_EQ(line.get2DLength(), std::sqrt(2.0)); + EXPECT_DOUBLE_EQ(line.length_2d, std::sqrt(2.0)); } TEST(LineSegment, get2DLengthZeroLength) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(1.0, 2.0, 3.0)); - EXPECT_DOUBLE_EQ(line.get2DLength(), 0.0); + EXPECT_DOUBLE_EQ(line.length_2d, 0.0); } -TEST(LineSegment, getSlope) +TEST(LineSegment, get2DVectorSlope) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 3.0, 4.0)); - EXPECT_DOUBLE_EQ(line.getSlope(), 0.5); + EXPECT_DOUBLE_EQ(line.get2DVectorSlope(), 0.5); } -TEST(LineSegment, getSlopeZeroLength) +TEST(LineSegment, get2DVectorSlopeZeroLength) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(1.0, 2.0, 3.0)); - EXPECT_TRUE(std::isnan(line.getSlope())); + EXPECT_THROW(line.get2DVectorSlope(), common::SimulationError); } TEST(LineSegment, getSquaredDistanceIn2D) @@ -464,109 +464,109 @@ TEST(LineSegment, isIntersect2D) } /// @brief In this test case, we check collision with the line segment with start point (x,y,z) = (0,-1,0) and end point (x,y,z) = (0,1,0) in the cartesian coordinate system. (variable name `line`). -TEST(LineSegment, getIntersection2DSValue) +TEST(LineSegment, get2DIntersectionSValue) { { math::geometry::LineSegment line( geometry_msgs::build().x(0).y(-1).z(0), geometry_msgs::build().x(0).y(1).z(0)); /** - * @note Testing the `LineSegment::getIntersection2DSValue` function can find a collision with the point with (x,y,z) = (0,0,0) in the cartesian coordinate system. + * @note Testing the `LineSegment::get2DIntersectionSValue` function can find a collision with the point with (x,y,z) = (0,0,0) in the cartesian coordinate system. * In the frenet coordinate system along the `line`, the s value should be 0.5. * If so, the variable `collision_s` should be `std::optional(0.5)`. */ - // [Snippet_getIntersection2DSValue_with_point_0_0_0] + // [Snippet_get2DIntersectionSValue_with_point_0_0_0] { - const auto collision_s = line.getIntersection2DSValue( + const auto collision_s = line.get2DIntersectionSValue( geometry_msgs::build().x(0).y(0).z(0), false); EXPECT_TRUE(collision_s); if (collision_s) { EXPECT_DOUBLE_EQ(collision_s.value(), 0.5); } } - // [Snippet_getIntersection2DSValue_with_point_0_0_0] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2DSValue_with_point_0_0_0 + // [Snippet_get2DIntersectionSValue_with_point_0_0_0] + /// @snippet test/test_line_segment.cpp Snippet_get2DIntersectionSValue_with_point_0_0_0 /** - * @note Testing the `LineSegment::getIntersection2DSValue` function can find a collision with the point with (x,y,z) = (0,1,0) in the cartesian coordinate system. + * @note Testing the `LineSegment::get2DIntersectionSValue` function can find a collision with the point with (x,y,z) = (0,1,0) in the cartesian coordinate system. * In the frenet coordinate system along the `line`, the s value should be 1.0. * If so, the variable `collision_s` should be `std::optional(1.0)`. */ - // [Snippet_getIntersection2DSValue_with_point_0_1_0] + // [Snippet_get2DIntersectionSValue_with_point_0_1_0] { - const auto collision_s = line.getIntersection2DSValue( + const auto collision_s = line.get2DIntersectionSValue( geometry_msgs::build().x(0).y(1).z(0), false); EXPECT_TRUE(collision_s); if (collision_s) { EXPECT_DOUBLE_EQ(collision_s.value(), 1.0); } } - // [Snippet_getIntersection2DSValue_with_point_0_1_0] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2DSValue_with_point_0_1_0 + // [Snippet_get2DIntersectionSValue_with_point_0_1_0] + /// @snippet test/test_line_segment.cpp Snippet_get2DIntersectionSValue_with_point_0_1_0 /** - * @note Testing the `LineSegment::getIntersection2DSValue` function can find a collision with the point with (x,y,z) = (0,1,0) in the cartesian coordinate system. + * @note Testing the `LineSegment::get2DIntersectionSValue` function can find a collision with the point with (x,y,z) = (0,1,0) in the cartesian coordinate system. * In the frenet coordinate system along the `line`, the s value should be 1.0. - * And, the 2nd argument of the `LineSegment::getIntersection2DSValue` (denormalized_s) is true, so the return value should be 1.0 (normalized s value.) * 2.0 (length of the `line`) = 2.0. + * And, the 2nd argument of the `LineSegment::get2DIntersectionSValue` (denormalized_s) is true, so the return value should be 1.0 (normalized s value.) * 2.0 (length of the `line`) = 2.0. * If so, the variable `collision_s` should be `std::optional(2.0)`. */ - // [Snippet_getIntersection2DSValue_with_point_0_1_0_denormalized] + // [Snippet_get2DIntersectionSValue_with_point_0_1_0_denormalized] { - const auto collision_s = line.getIntersection2DSValue( + const auto collision_s = line.get2DIntersectionSValue( geometry_msgs::build().x(0).y(1).z(0), true); EXPECT_TRUE(collision_s); if (collision_s) { EXPECT_DOUBLE_EQ(collision_s.value(), 2.0); } } - // [Snippet_getIntersection2DSValue_with_point_0_1_0_denormalized] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2DSValue_with_point_0_1_0_denormalized + // [Snippet_get2DIntersectionSValue_with_point_0_1_0_denormalized] + /// @snippet test/test_line_segment.cpp Snippet_get2DIntersectionSValue_with_point_0_1_0_denormalized /** - * @note Testing the `LineSegment::getIntersection2DSValue` function can find a collision with the point with (x,y,z) = (0,0,0) in the cartesian coordinate system. + * @note Testing the `LineSegment::get2DIntersectionSValue` function can find a collision with the point with (x,y,z) = (0,0,0) in the cartesian coordinate system. * In the frenet coordinate system along the `line`, the s value should be 0.5. - * And, the 2nd argument of the `LineSegment::getIntersection2DSValue` (denormalized_s) is true, so the return value should be 0.5 (normalized s value.) * 2.0 (length of the `line`) = 1.0. + * And, the 2nd argument of the `LineSegment::get2DIntersectionSValue` (denormalized_s) is true, so the return value should be 0.5 (normalized s value.) * 2.0 (length of the `line`) = 1.0. * If so, the variable `collision_s` should be `std::optional(1.0)`. */ - // [Snippet_getIntersection2DSValue_with_point_0_0_0_denormalized] + // [Snippet_get2DIntersectionSValue_with_point_0_0_0_denormalized] { - const auto collision_s = line.getIntersection2DSValue( + const auto collision_s = line.get2DIntersectionSValue( geometry_msgs::build().x(0).y(0).z(0), true); EXPECT_TRUE(collision_s); if (collision_s) { EXPECT_DOUBLE_EQ(collision_s.value(), 1.0); } } - // [Snippet_getIntersection2DSValue_with_point_0_0_0_denormalized] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2DSValue_with_point_0_0_0_denormalized + // [Snippet_get2DIntersectionSValue_with_point_0_0_0_denormalized] + /// @snippet test/test_line_segment.cpp Snippet_get2DIntersectionSValue_with_point_0_0_0_denormalized /** - * @note Testing the `LineSegment::getIntersection2DSValue` function can find that the point with (x,y,z) = (1,0,0) in the cartesian coordinate system does not collide to `line.`. + * @note Testing the `LineSegment::get2DIntersectionSValue` function can find that the point with (x,y,z) = (1,0,0) in the cartesian coordinate system does not collide to `line.`. * If the function works valid, the variable `collision_s` should be `std::nullopt`. */ - // [Snippet_getIntersection2DSValue_with_point_1_0_0] + // [Snippet_get2DIntersectionSValue_with_point_1_0_0] { - const auto collision_s = line.getIntersection2DSValue( + const auto collision_s = line.get2DIntersectionSValue( geometry_msgs::build().x(1).y(0).z(0), false); EXPECT_FALSE(collision_s); } - // [Snippet_getIntersection2DSValue_with_point_1_0_0] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2DSValue_with_point_1_0_0 + // [Snippet_get2DIntersectionSValue_with_point_1_0_0] + /// @snippet test/test_line_segment.cpp Snippet_get2DIntersectionSValue_with_point_1_0_0 { // parallel no denormalize EXPECT_THROW( - line.getIntersection2DSValue( + line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(0.0, -1.0), makePoint(0.0, 1.0)), false), common::SimulationError); } { // parallel denormalize EXPECT_THROW( - line.getIntersection2DSValue( + line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(0.0, -1.0), makePoint(0.0, 1.0)), true), common::SimulationError); } { // intersect no denormalize - const auto collision_s = line.getIntersection2DSValue( + const auto collision_s = line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(-1.0, 0.5), makePoint(1.0, 0.5)), false); EXPECT_TRUE(collision_s); if (collision_s) { @@ -574,7 +574,7 @@ TEST(LineSegment, getIntersection2DSValue) } } { // intersect denormalize - const auto collision_s = line.getIntersection2DSValue( + const auto collision_s = line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(-1.0, 0.5), makePoint(1.0, 0.5)), true); EXPECT_TRUE(collision_s); if (collision_s) { @@ -582,12 +582,12 @@ TEST(LineSegment, getIntersection2DSValue) } } { // no intersect no denormalize - const auto collision_s = line.getIntersection2DSValue( + const auto collision_s = line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(-1.0, 1.5), makePoint(1.0, 1.5)), false); EXPECT_FALSE(collision_s); } { // no intersect denormalize - const auto collision_s = line.getIntersection2DSValue( + const auto collision_s = line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(-1.0, 1.5), makePoint(1.0, 1.5)), true); EXPECT_FALSE(collision_s); } diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index d7435a2d0d7..751669f5645 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index fed6fd12440..f8044694277 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.0.4 + 4.1.1 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 4eef17af56d..e8c04a9b3da 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 59ed067b7f3..94acfc23b4f 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.0.4 + 4.1.1 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 774ca2bbc6f..93bd7dae8e2 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 282d4873375..8581f52357e 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.0.4 + 4.1.1 none Tatsuya Yamasaki Apache License 2.0 diff --git a/docs/image/realtime_factor/panel.png b/docs/image/realtime_factor/panel.png new file mode 100644 index 00000000000..46d25a6333b Binary files /dev/null and b/docs/image/realtime_factor/panel.png differ diff --git a/docs/image/realtime_factor/slider.png b/docs/image/realtime_factor/slider.png new file mode 100644 index 00000000000..90e50131323 Binary files /dev/null and b/docs/image/realtime_factor/slider.png differ diff --git a/docs/image/realtime_factor/video.mp4 b/docs/image/realtime_factor/video.mp4 new file mode 100644 index 00000000000..52f487d9484 Binary files /dev/null and b/docs/image/realtime_factor/video.mp4 differ diff --git a/docs/user_guide/scenario_test_runner/.pages b/docs/user_guide/scenario_test_runner/.pages index a4999386dbe..ea72fd1cbe4 100644 --- a/docs/user_guide/scenario_test_runner/.pages +++ b/docs/user_guide/scenario_test_runner/.pages @@ -2,4 +2,5 @@ nav: - Overview: ScenarioTestRunner.md - ScenarioFormatConversion.md - HowToWriteWorkflowFile.md + - RealtimeFactor.md - Tips.md diff --git a/docs/user_guide/scenario_test_runner/RealtimeFactor.md b/docs/user_guide/scenario_test_runner/RealtimeFactor.md new file mode 100644 index 00000000000..e8b1cbe5d66 --- /dev/null +++ b/docs/user_guide/scenario_test_runner/RealtimeFactor.md @@ -0,0 +1,78 @@ +# How to use realtime factor + +It is possible to modify the speed of simulation (the speed of time published on the /clock topic is not affected): + +- from the start of the simulation (using parameter), +- during the simulation (using the GUI slider). + +## Use parameter + + - When you run simulations on the command line, add an `global_real_time_factor` parameter with a custom value (the default is 1.0). + + ```bash + ros2 launch scenario_test_runner scenario_test_runner.launch.py \ + architecture_type:=awf/universe/20230906 \ + record:=false \ + scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \ + sensor_model:=sample_sensor_kit \ + vehicle_model:=sample_vehicle \ + global_real_time_factor:="0.5" + ``` + + - The smaller the value you specify, the slower the simulation will progress. + +## Use slider on run time + +- When the simulation is started you can add the `RViz` panel by clicking `Panels -> Add new panel` in the top left corner of RViz. + +- Then in the pop up window please select `RealTimeFactorSliderPanel` and double click on it. + +![Panel](../../image/realtime_factor/panel.png) + +- Slider controlling the speed of simulation time should be visible on the left side of the screen. + +![Slider](../../image/realtime_factor/slider.png) + +- The process of adding the panel is also visible in the video: + + + + +## Configure `use_sim_time` parameter + +Parameter `use_sim_time` of `openscenario_interpreter` is **false** by default and can be modified by passing it using command line. + + + ```bash + ros2 launch scenario_test_runner scenario_test_runner.launch.py \ + architecture_type:=awf/universe/20230906 \ + record:=false \ + scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \ + sensor_model:=sample_sensor_kit \ + vehicle_model:=sample_vehicle \ + global_real_time_factor:="0.5" \ + use_sim_time:=true + ``` + +However, this impacts the time published on the `/clock` topic and the time used by `Autoware`. +Details are shown in the table below: + +| use_sim_time launch parameter | /clock time published by scenario_simulator_v2 | AWF Autoware Time | +| ----------------------------- | ---------------------------------------------- | ---------------------- | +| false (default) | walltime | walltime from /clock | +| true | simulation | simulation from /clock | + +Below are also some bullet points explaining the impact of the `use_sim_time` parameter on `scenario_simulator_v2` and `Autoware`: + + - **`use_sim_time:=True` passed using command line** + - Both Autoware and scenario_simulator_v2 are launched with `use_sim_time=true`. + - Time published on `/clock` is the **simulation time** (starting from 0). + - Time published on `/clock` **can be** controlled by RViz plugin. + - Simulation time **can be** controlled by RViz plugin. + - **`use_sim_time:=False` passed using command line (default value)** + - Both Autoware and scenario_simulator_v2 are launched with `use_sim_time=false`. + - Time published on `/clock` is the **walltime**. + - Time published on `/clock` **cannot be** controlled by RViz plugin. + - Simulation time **can be** controlled by RViz plugin. diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 1de9bcc00e0..a65070a5b3a 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/external/concealer/package.xml b/external/concealer/package.xml index e5b4f8a03f5..43e7da9c9cb 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.0.4 + 4.1.1 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/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst index 39510cf8c3f..f43f59683ed 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,29 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 5df0964bb76..5eb7b996777 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.0.4 + 4.1.1 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 6ea2889e2b1..22bf4853964 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 473e71e7ddf..8dc789e7ad9 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.0.4 + 4.1.1 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 6e9c96e3ea1..df422fbee7e 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,29 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index ef675481bc7..5844a6ddd6e 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.0.4 + 4.1.1 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 62d76832554..5104c7ac09b 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 5ca7a422612..f595e5f10dc 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.0.4 + 4.1.1 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 6eafad07e9d..4bc7d1e3f3e 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index b87f49ec52e..45f27892af7 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.0.4 + 4.1.1 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 fe0296b7d82..71666b59396 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,30 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index b5d213d0aee..3d070c90e78 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.0.4 + 4.1.1 OpenSCENARIO 1.2.0 interpreter package for Autoware Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst index 9b0a471dbe2..284f8b712ce 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 449744d17e6..0eddc9f2065 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.0.4 + 4.1.1 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 48502653733..2ff6a3ad396 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index ee364f8ca43..c0c44be4bcf 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.0.4 + 4.1.1 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 1c70a7d2f90..2c679019060 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index c5a9fa0ccb7..2806381635c 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.0.4 + 4.1.1 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 1d094431d99..4f6847559fc 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index a1b4f436a32..af39b90a017 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.0.4 + 4.1.1 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 b7cf67def8c..7303319e8d7 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,29 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index be9aa620fbe..17130a022c3 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.0.4 + 4.1.1 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 e7373a93b65..edae34b089e 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,29 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index a78113eed79..da541f624f9 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.0.4 + 4.1.1 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 a3c990bd223..d69f5f28b9c 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 02ea72c337f..e76f23b4545 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.0.4 + 4.1.1 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 75e8669b2a9..89dc9d79e52 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 +21,29 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar 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 b67a20a9508..7e40fec1330 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 - 4.0.4 + 4.1.1 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 09219d5b536..d75490f9061 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index f4a9cbbfde4..75a3120d806 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.0.4 + 4.1.1 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 7079b435a9a..a1827aa4290 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index afa4dcbb82e..b049b75aecf 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.0.4 + 4.1.1 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 4f6b112885d..333a17a14ce 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index d73bfd1a99a..04e674bafbe 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.0.4 + 4.1.1 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 330c7beb168..589423df12d 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,33 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Revert "feat(params): set use_sim_time default as True" + This reverts commit da85edf4956083563715daa3d60f0da1f94a423d. +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* feat(params): set use_sim_time default as True +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge pull request `#1301 `_ from tier4/feature/simple_sensor_simulator_unit_tests_lidar diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 33fece8a706..bd84da7888a 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.0.4 + 4.1.1 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index ac992200c2e..808b578281b 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,30 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 4098f2afc3a..7900025ff2e 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.0.4 + 4.1.1 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 2ae66a903af..8e67976fb9e 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,33 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge pull request `#1207 `_ from tier4/fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* feat(use_sim_time): set default as false +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* use_sim_time used in concealer initialization +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto, Paweł Lech + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index a53007167c1..24c4c007e01 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.0.4 + 4.1.1 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index b4911d3e642..6e29abdeb2d 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -57,7 +57,10 @@ auto EgoEntity::makeFieldOperatorApplication( : Configuration::Pathname(rviz_config).string()), "scenario_simulation:=true", "use_foa:=false", "perception/enable_traffic_light:=" + - std::string((architecture_type >= "awf/universe/20230906") ? "true" : "false")) + std::string((architecture_type >= "awf/universe/20230906") ? "true" : "false"), + "use_sim_time:=" + + std::string( + getParameter(node_parameters, "use_sim_time", false) ? "true" : "false")) : std::make_unique< concealer::FieldOperatorApplicationFor>(); } else { diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index f4a7b54d808..5db5f440c2e 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 20123d7e905..8050ee25c17 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.0.4 + 4.1.1 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 c5254557c9d..6fefac553c0 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 8e2ac0e8ac7..84b08a721a1 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.0.4 + 4.1.1 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 0169e72bf9f..afa619d2d51 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,34 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.1 (2024-09-03) +------------------ +* Merge pull request `#1207 `_ from tier4/fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* feat(use_sim_time): set default as false +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* Revert "feat(params): set use_sim_time default as True" + This reverts commit da85edf4956083563715daa3d60f0da1f94a423d. +* Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control +* feat(params): set use_sim_time default as True +* Merge remote-tracking branch 'origin/master' into fix/use-sim-time-for-real-time-factor-control +* Merge branch 'master' into doc/RJD-1273-add-realtime-factor-doc +* Contributors: Dawid Moszynski, Dawid Moszyński, Kotaro Yoshimoto + +4.1.0 (2024-09-03) +------------------ +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-line-segment +* Merge branch 'master' into RJD-1278/fix-1344-getIntersection2DSValue +* Merge branch 'master' into RJD-1278/fix-1343-isIntersect2D +* Contributors: Michał Ciasnocha + 4.0.4 (2024-09-02) ------------------ * Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar diff --git a/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py b/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py index 4d0b80e55f3..33c5161e927 100755 --- a/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py +++ b/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py @@ -192,7 +192,7 @@ def description(): namespace="simulation", output="screen", on_exit=ShutdownOnce(), - parameters=make_parameters() + [{"use_sim_time": True}], + parameters=make_parameters() + [{"use_sim_time": use_sim_time}], condition=IfCondition(launch_simple_sensor_simulator), ), # The `name` keyword overrides the name for all created nodes, so duplicated nodes appear. diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 0e9b538151e..8ae5e7817c6 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.0.4 + 4.1.1 scenario test runner package Tatsuya Yamasaki Apache License 2.0