From 5d86907da0491164a1116608f0a2e7f231ef27d0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Lech?= Date: Tue, 5 Mar 2024 09:36:15 +0100 Subject: [PATCH 001/304] use_sim_time used in concealer initialization MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Paweł Lech --- simulation/traffic_simulator/src/entity/ego_entity.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index e3a056c2dc8..93c2ffb3033 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -40,7 +40,9 @@ static auto getParameter(const std::string & name, T value = {}) { rclcpp::Node node{"get_parameter", "simulation"}; - node.declare_parameter(name, value); + if (!node.has_parameter(name)) { + node.declare_parameter(name, value); + } node.get_parameter(name, value); return value; @@ -67,7 +69,9 @@ auto EgoEntity::makeFieldOperatorApplication(const Configuration & configuration : 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("use_sim_time") ? "true" : "false")) : std::make_unique< concealer::FieldOperatorApplicationFor>(); } else { From 84c8b0c101b8e680ad6029d8702387e5495e2646 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 17 Jun 2024 11:24:10 +0900 Subject: [PATCH 002/304] fix(RelativeDistanceCondition): Fixed a bug where RelativeDistance showed negative values --- .../syntax/relative_distance_condition.cpp | 72 ++++--------------- 1 file changed, 12 insertions(+), 60 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp index 90e9b7be341..0e65facca87 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp @@ -181,21 +181,9 @@ auto RelativeDistanceCondition::distance< if ( global().entities->at(entity_ref).as().is_added and global().entities->at(triggering_entity).as().is_added) { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == - longitudinal/lateral. The sign has been mainly used to determine the - front/back and left/right positional relationship (a negative value is - returned if the target entity is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's - OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this - behavior will be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref)) - .offset; + return std::abs(static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref)) + .offset); } else { return Double::nan(); } @@ -209,21 +197,9 @@ auto RelativeDistanceCondition::distance< if ( global().entities->at(entity_ref).as().is_added and global().entities->at(triggering_entity).as().is_added) { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == - longitudinal/lateral. The sign has been mainly used to determine the - front/back and left/right positional relationship (a negative value is - returned if the target entity is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's - OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this - behavior will be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) - .offset; + return std::abs(static_cast( + makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) + .offset); } else { return Double::nan(); } @@ -237,21 +213,9 @@ auto RelativeDistanceCondition::distance< if ( global().entities->at(triggering_entity).as().is_added and global().entities->at(entity_ref).as().is_added) { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == - longitudinal/lateral. The sign has been mainly used to determine the - front/back and left/right positional relationship (a negative value is - returned if the target entity is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's - OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this - behavior will be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref)) - .s; + return std::abs(static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref)) + .s); } else { return Double::nan(); } @@ -265,21 +229,9 @@ auto RelativeDistanceCondition::distance< if ( global().entities->at(triggering_entity).as().is_added and global().entities->at(entity_ref).as().is_added) { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == - longitudinal/lateral. The sign has been mainly used to determine the - front/back and left/right positional relationship (a negative value is - returned if the target entity is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's - OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this - behavior will be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) - .s; + return std::abs(static_cast( + makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) + .s); } else { return Double::nan(); } From 038830cc02a4d99f5742a1d219791bc93558ed4c Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Jun 2024 14:15:11 +0900 Subject: [PATCH 003/304] Revert "fix(RelativeDistanceCondition): Fixed a bug where RelativeDistance showed negative values" This reverts commit 84c8b0c101b8e680ad6029d8702387e5495e2646. --- .../syntax/relative_distance_condition.cpp | 72 +++++++++++++++---- 1 file changed, 60 insertions(+), 12 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp index 0e65facca87..90e9b7be341 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp @@ -181,9 +181,21 @@ auto RelativeDistanceCondition::distance< if ( global().entities->at(entity_ref).as().is_added and global().entities->at(triggering_entity).as().is_added) { - return std::abs(static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref)) - .offset); + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == + longitudinal/lateral. The sign has been mainly used to determine the + front/back and left/right positional relationship (a negative value is + returned if the target entity is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's + OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this + behavior will be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref)) + .offset; } else { return Double::nan(); } @@ -197,9 +209,21 @@ auto RelativeDistanceCondition::distance< if ( global().entities->at(entity_ref).as().is_added and global().entities->at(triggering_entity).as().is_added) { - return std::abs(static_cast( - makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) - .offset); + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == + longitudinal/lateral. The sign has been mainly used to determine the + front/back and left/right positional relationship (a negative value is + returned if the target entity is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's + OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this + behavior will be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) + .offset; } else { return Double::nan(); } @@ -213,9 +237,21 @@ auto RelativeDistanceCondition::distance< if ( global().entities->at(triggering_entity).as().is_added and global().entities->at(entity_ref).as().is_added) { - return std::abs(static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref)) - .s); + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == + longitudinal/lateral. The sign has been mainly used to determine the + front/back and left/right positional relationship (a negative value is + returned if the target entity is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's + OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this + behavior will be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref)) + .s; } else { return Double::nan(); } @@ -229,9 +265,21 @@ auto RelativeDistanceCondition::distance< if ( global().entities->at(triggering_entity).as().is_added and global().entities->at(entity_ref).as().is_added) { - return std::abs(static_cast( - makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) - .s); + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == + longitudinal/lateral. The sign has been mainly used to determine the + front/back and left/right positional relationship (a negative value is + returned if the target entity is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's + OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this + behavior will be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) + .s; } else { return Double::nan(); } From 9255d231659845d25aa9054d610603a63b63cc81 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Jun 2024 14:17:52 +0900 Subject: [PATCH 004/304] feat(openscenario_interpreter): add RelativeLaneRange --- .../syntax/relative_lane_range.hpp | 45 +++++++++++++++++++ .../src/syntax/relative_lane_range.cpp | 27 +++++++++++ 2 files changed, 72 insertions(+) create mode 100644 openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp create mode 100644 openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp new file mode 100644 index 00000000000..7108b45bf2b --- /dev/null +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp @@ -0,0 +1,45 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_LANE_RANGE_HPP_ +#define OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_LANE_RANGE_HPP_ + +#include +#include +#include + +namespace openscenario_interpreter +{ +inline namespace syntax +{ +/* + RelativeLaneRange (OpenSCENARIO XML 1.3) + + + + + +*/ +struct RelativeLaneRange +{ + const Integer from; + + const Integer to; + + explicit RelativeLaneRange(const pugi::xml_node &, Scope &); +}; +} // namespace syntax +} // namespace openscenario_interpreter + +#endif // OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_LANE_RANGE_HPP_ diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp new file mode 100644 index 00000000000..c94ce16d95c --- /dev/null +++ b/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp @@ -0,0 +1,27 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +namespace openscenario_interpreter +{ +inline namespace syntax +{ +RelativeLaneRange::RelativeLaneRange(const pugi::xml_node & node, Scope & scope) +: from(readAttribute("from", node, scope)), to(readAttribute("to", node, scope)) +{ +} +} // namespace syntax +} // namespace openscenario_interpreter From 496feb07c12376d09387da18aecced496c914150 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 18 Jun 2024 14:21:59 +0900 Subject: [PATCH 005/304] feat(openscenario_interpreter): add RelativeClearanceCondition(empty implementation) --- .../syntax/relative_clearance_condition.hpp | 86 +++++++++++++++++++ .../syntax/relative_clearance_condition.cpp | 58 +++++++++++++ 2 files changed, 144 insertions(+) create mode 100644 openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp create mode 100644 openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp new file mode 100644 index 00000000000..1255d03da93 --- /dev/null +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp @@ -0,0 +1,86 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_CLEARANCE_CONDITION_HPP_ +#define OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_CLEARANCE_CONDITION_HPP_ + +#include +#include +#include +#include +#include +#include + +namespace openscenario_interpreter +{ +inline namespace syntax +{ +/* + RelativeClearanceCondition (OpenSCENARIO XML 1.3) + + + + + + + + + + + +*/ +struct RelativeClearanceCondition : private Scope, private SimulatorCore::ConditionEvaluation +{ + /* + Longitudinal distance behind reference point of the entity to be checked along lane centerline of the current lane of the triggering entity. Orientation of entity towards lane determines backward direction. Velocity of entity is irrelevant. Unit: [m]. Range: [0..inf[. Default if omitted: 0 + */ + const Double distance_backward; + + /* + Longitudinal distance in front of reference point of the entity to be checked along lane centerline of the current lane of the triggering entity. Orientation of entity towards lane determines forward direction. Velocity of entity is irrelevant. Unit: [m]. Range: [0..inf[. Default if omitted: 0 + */ + const Double distance_forward; + + /* + If false, then entityRefs are only considered to be on the lane if their reference point is within the checked area; otherwise the whole bounding box is considered. + */ + const Boolean freespace; + + /* + If true, then also lanes in the opposite direction are considered; otherwise only lanes in the same direction are considered. + */ + const Boolean opposite_lanes; + + /* + The lanes to be checked to left and right of the triggering entity (positive to the y-axis). If omitted: all lanes are checked. + */ + const std::list relative_lane_range; + + /* + Constraint to check only specific entities. If it is not used then all entities are considered. + */ + const std::list entity_refs; + + const TriggeringEntities triggering_entities; + + explicit RelativeClearanceCondition(const pugi::xml_node &, Scope &, const TriggeringEntities &); + + auto description() const -> String; + + auto evaluate() -> Object; +}; +} // namespace syntax +} // namespace openscenario_interpreter + +#endif // OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_CLEARANCE_CONDITION_HPP_ diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp new file mode 100644 index 00000000000..6506f879407 --- /dev/null +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -0,0 +1,58 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include +#include +#include + +namespace openscenario_interpreter +{ +inline namespace syntax +{ +RelativeClearanceCondition::RelativeClearanceCondition( + const pugi::xml_node & node, Scope & scope, const TriggeringEntities & triggering_entities) +: Scope(scope), + distance_backward(readAttribute("distanceBackward", node, scope, 0.0)), + distance_forward(readAttribute("distanceForward", node, scope, 0.0)), + freespace(readAttribute("freespace", node, scope)), + opposite_lanes(readAttribute("oppositeLanes", node, scope)), + relative_lane_range(readElements("RelativeLaneRange", node, scope)), + entity_refs(readElements("EntityRef", node, scope)), + triggering_entities(triggering_entities) +{ +} + +auto RelativeClearanceCondition::description() const -> String +{ + std::stringstream description; + + description << triggering_entities.description() + << "'s have relative clearance to given entities ["; + + print_to(description, entity_refs); + + description << "]?"; + + return description.str(); +} + +auto RelativeClearanceCondition::evaluate() -> Object +{ + // TODO(HansRobo): implement + return unspecified; +} +} // namespace syntax +} // namespace openscenario_interpreter From 2ef0ef39a84f305387fde5a4ff7ef7f8f7f35a70 Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Tue, 25 Jun 2024 09:44:58 +0200 Subject: [PATCH 006/304] Test: [RJD-937] to Implement Unit tests on simple_sensor_simulator - Added unit tests to LidarSensor - Addede unit tests to Primitive - Refactored Raycaster unit tests --- .../test/CMakeLists.txt | 3 + .../sensor_simulation/lidar/CMakeLists.txt | 6 +- .../lidar/test_lidar_sensor.cpp | 84 ++++++ .../lidar/test_lidar_sensor.hpp | 84 ++++++ .../lidar/test_raycaster.cpp | 14 +- .../lidar/test_raycaster.hpp | 34 +-- .../primitives/CMakeLists.txt | 3 + .../sensor_simulation/primitives/test_box.cpp | 2 +- .../primitives/test_primitive.cpp | 250 ++++++++++++++++++ .../primitives/test_primitive.hpp | 92 +++++++ .../primitives/test_vertex.cpp | 2 +- .../expect_eq_macros.hpp | 6 + .../test/src/utils/helper_functions.hpp | 142 ++++++++++ 13 files changed, 681 insertions(+), 41 deletions(-) create mode 100644 simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_lidar_sensor.cpp create mode 100644 simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_lidar_sensor.hpp create mode 100644 simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.cpp create mode 100644 simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp rename simulation/simple_sensor_simulator/test/src/{sensor_simulation => utils}/expect_eq_macros.hpp (90%) create mode 100644 simulation/simple_sensor_simulator/test/src/utils/helper_functions.hpp diff --git a/simulation/simple_sensor_simulator/test/CMakeLists.txt b/simulation/simple_sensor_simulator/test/CMakeLists.txt index e7f6401dfef..5db9f69e675 100644 --- a/simulation/simple_sensor_simulator/test/CMakeLists.txt +++ b/simulation/simple_sensor_simulator/test/CMakeLists.txt @@ -1,3 +1,6 @@ +find_package(Protobuf REQUIRED) +include_directories(${Protobuf_INCLUDE_DIRS}) + add_subdirectory(src/sensor_simulation/lidar) add_subdirectory(src/sensor_simulation/primitives) add_subdirectory(src/sensor_simulation/occupancy_grid) diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/CMakeLists.txt b/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/CMakeLists.txt index eeb9c2f9abc..7d16e7f14cf 100644 --- a/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/CMakeLists.txt +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/CMakeLists.txt @@ -1,5 +1,5 @@ -find_package(Protobuf REQUIRED) -include_directories(${Protobuf_INCLUDE_DIRS}) - ament_add_gtest(test_raycaster test_raycaster.cpp) target_link_libraries(test_raycaster simple_sensor_simulator_component ${Protobuf_LIBRARIES}) + +ament_add_gtest(test_lidar_sensor test_lidar_sensor.cpp) +target_link_libraries(test_lidar_sensor simple_sensor_simulator_component ${Protobuf_LIBRARIES}) diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_lidar_sensor.cpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_lidar_sensor.cpp new file mode 100644 index 00000000000..2a225940738 --- /dev/null +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_lidar_sensor.cpp @@ -0,0 +1,84 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "test_lidar_sensor.hpp" + +/** + * @note Test function behavior when called on a scene without Ego entity added - the goal is to + * test error throwing. + */ +TEST_F(LidarSensorTest, update_noEgo) +{ + status_.clear(); // Remove ego + EXPECT_THROW( + lidar_->update(current_simulation_time_, status_, current_ros_time_), std::runtime_error); +} + +/** + * @note Test basic functionality. Test lidar sensor correctness on a sample scene with some vehicle + * - the goal is to check if the correct pointcloud is published on the correct topic. + */ +TEST_F(LidarSensorTest, update_correct) +{ + lidar_->update(current_simulation_time_, status_, current_ros_time_); + + // Spin the node to process callbacks + rclcpp::spin_some(node_); + + ASSERT_NE(received_msg_, nullptr); + const auto total_num_of_points = received_msg_->width * received_msg_->height; + EXPECT_GT(total_num_of_points, 0); + EXPECT_EQ(received_msg_->header.frame_id, "base_link"); +} + +/** + * @note Test function behavior when called with a current_time significantly smaller than one call + * earlier - the goal is to test whether the function clears detected_objects. + */ +TEST_F(LidarSensorTest, update_goBackInTime) +{ + lidar_->update(current_simulation_time_, status_, rclcpp::Time(1000)); + + // Ensure there are detected objects + ASSERT_FALSE(lidar_->getDetectedObjects().empty()); + + lidar_->update(current_simulation_time_, status_, rclcpp::Time(1)); + + // Spin the node to process callbacks + rclcpp::spin_some(node_); + + EXPECT_TRUE(lidar_->getDetectedObjects().empty()); +} + +/** + * @note Test basic functionality. Test detected objects obtaining from the statuses list containing + * Ego. + */ +TEST_F(LidarSensorTest, getDetectedObjects) +{ + const std::set expected_objects = {status_[1].name(), status_[2].name()}; + + lidar_->update(current_simulation_time_, status_, current_ros_time_); + + // Spin the node to process callbacks + rclcpp::spin_some(node_); + + const auto & detected_objects = lidar_->getDetectedObjects(); + + // LidarSensor returns duplicates. To avoid them, a std::set is used. + const std::set unique_objects(detected_objects.begin(), detected_objects.end()); + + ASSERT_FALSE(unique_objects.empty()); + EXPECT_EQ(unique_objects, expected_objects); +} diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_lidar_sensor.hpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_lidar_sensor.hpp new file mode 100644 index 00000000000..54bf61a03b0 --- /dev/null +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_lidar_sensor.hpp @@ -0,0 +1,84 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SIMPLE_SENSOR_SIMULATOR__TEST__TEST_LIDAR_SENSOR_HPP_ +#define SIMPLE_SENSOR_SIMULATOR__TEST__TEST_LIDAR_SENSOR_HPP_ + +#include + +#include +#include +#include +#include +#include +#include + +#include "../../utils/helper_functions.hpp" + +using namespace simple_sensor_simulator; + +class LidarSensorTest : public ::testing::Test +{ +protected: + LidarSensorTest() : config_(utils::constructLidarConfiguration("ego", "awf/universe", 0.0, 0.5)) + { + rclcpp::init(0, nullptr); + node_ = std::make_shared("lidar_sensor_test_node"); + makeRosInterface(); + initializeEntityStatuses(); + + lidar_ = std::make_unique>(0.0, config_, publisher_); + } + + ~LidarSensorTest() { rclcpp::shutdown(); } + + rclcpp::Node::SharedPtr node_; + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Subscription::SharedPtr subscription_; + + std::vector status_; + + std::unique_ptr lidar_; + simulation_api_schema::LidarConfiguration config_; + sensor_msgs::msg::PointCloud2::SharedPtr received_msg_; + + double current_simulation_time_{1.0}; + rclcpp::Time current_ros_time_{1}; + +private: + auto initializeEntityStatuses() -> void + { + const auto dimensions = utils::makeDimensions(4.5, 2.0, 1.5); + + const auto ego_status = utils::makeEntity( + "ego", EntityType::EGO, utils::makePose(5.0, 5.0, 0.0, 0.0, 0.0, 0.0, 1.0), dimensions); + const auto other1_status = utils::makeEntity( + "other1", EntityType::VEHICLE, utils::makePose(-3.0, -3.0, 0.0, 0.0, 0.0, 0.0, 1.0), + dimensions); + const auto other2_status = utils::makeEntity( + "other2", EntityType::VEHICLE, utils::makePose(5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0), + dimensions); + + status_ = {ego_status, other1_status, other2_status}; + } + + auto makeRosInterface() -> void + { + publisher_ = node_->create_publisher("lidar_output", 10); + subscription_ = node_->create_subscription( + "lidar_output", 10, + [this](const sensor_msgs::msg::PointCloud2::SharedPtr msg) { received_msg_ = msg; }); + } +}; +#endif // SIMPLE_SENSOR_SIMULATOR__TEST__TEST_LIDAR_SENSOR_HPP_ diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_raycaster.cpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_raycaster.cpp index f159ea9b575..d168ec0c80b 100644 --- a/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_raycaster.cpp +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_raycaster.cpp @@ -76,8 +76,8 @@ TEST_F(RaycasterTest, setDirection_oneBox) box_name_, box_depth_, box_width_, box_height_, box_pose_); simulation_api_schema::LidarConfiguration config; - config.add_vertical_angles(0.0); // Only one vertical angle for a horizontal ring - config.set_horizontal_resolution(degToRad(1.0)); // Set horizontal resolution to 1 degree + config.add_vertical_angles(0.0); // Only one vertical angle for a horizontal ring + config.set_horizontal_resolution(utils::degToRad(1.0)); // Set horizontal resolution to 1 degree raycaster_->setDirection(config); @@ -103,13 +103,7 @@ TEST_F(RaycasterTest, setDirection_manyBoxes) for (int i = 0; i < num_boxes; ++i) { const double angle = i * angle_increment; const auto box_pose = - geometry_msgs::build() - .position(geometry_msgs::build() - .x(radius * cos(angle)) - .y(radius * sin(angle)) - .z(0.0)) - .orientation( - geometry_msgs::build().x(0.0).y(0.0).z(0.0).w(1.0)); + utils::makePose(radius * cos(angle), radius * sin(angle), 0.0, 0.0, 0.0, 0.0, 1.0); const std::string name = "box" + std::to_string(i); raycaster_->addPrimitive(name, box_depth_, box_width_, box_height_, box_pose); @@ -117,7 +111,7 @@ TEST_F(RaycasterTest, setDirection_manyBoxes) simulation_api_schema::LidarConfiguration config; config.add_vertical_angles(0.0); // Only one vertical angle for a horizontal ring - config.set_horizontal_resolution(degToRad(5.0)); + config.set_horizontal_resolution(utils::degToRad(5.0)); raycaster_->setDirection(config); diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_raycaster.hpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_raycaster.hpp index d3e9beb511d..641e59cf104 100644 --- a/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_raycaster.hpp +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/lidar/test_raycaster.hpp @@ -23,6 +23,8 @@ #include #include +#include "../../utils/helper_functions.hpp" + using namespace simple_sensor_simulator; using namespace geometry_msgs::msg; @@ -31,20 +33,13 @@ constexpr static double degToRad(double deg) { return deg * M_PI / 180.0; } class RaycasterTest : public ::testing::Test { protected: - RaycasterTest() : raycaster_(std::make_unique()) + RaycasterTest() + : raycaster_(std::make_unique()), + config_(utils::constructLidarConfiguration("ego", "awf/universe", 0.0, 0.1)), + origin_(utils::makePose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0)), + box_pose_(utils::makePose(5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0)) { - configureLidar(); - - origin_ = - geometry_msgs::build() - .position(geometry_msgs::build().x(0.0).y(0.0).z(0.0)) - .orientation( - geometry_msgs::build().x(0.0).y(0.0).z(0.0).w(1.0)); - box_pose_ = - geometry_msgs::build() - .position(geometry_msgs::build().x(5.0).y(0.0).z(0.0)) - .orientation( - geometry_msgs::build().x(0.0).y(0.0).z(0.0).w(1.0)); + raycaster_->setDirection(config_); } std::unique_ptr raycaster_; @@ -60,19 +55,6 @@ class RaycasterTest : public ::testing::Test geometry_msgs::msg::Pose origin_; geometry_msgs::msg::Pose box_pose_; - -private: - auto configureLidar() -> void - { - // Setting vertical angles from -15 to +15 degrees in 2 degree steps - for (double angle = -15.0; angle <= 15.0; angle += 2.0) { - config_.add_vertical_angles(degToRad(angle)); - } - // Setting horizontal resolution to 0.5 degrees - config_.set_horizontal_resolution(degToRad(0.5)); - - raycaster_->setDirection(config_); - } }; #endif // SIMPLE_SENSOR_SIMULATOR__TEST__TEST_RAYCASTER_HPP_ diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/CMakeLists.txt b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/CMakeLists.txt index fb424659262..b5ae088e7a7 100644 --- a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/CMakeLists.txt +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/CMakeLists.txt @@ -3,3 +3,6 @@ target_link_libraries(test_box simple_sensor_simulator_component) ament_add_gtest(test_vertex test_vertex.cpp) target_link_libraries(test_vertex simple_sensor_simulator_component) + +ament_add_gtest(test_primitive test_primitive.cpp) +target_link_libraries(test_primitive simple_sensor_simulator_component ${Protobuf_LIBRARIES}) diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_box.cpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_box.cpp index c5b501075d7..25e64cf1022 100644 --- a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_box.cpp +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_box.cpp @@ -19,7 +19,7 @@ #include #include -#include "../expect_eq_macros.hpp" +#include "../../utils/expect_eq_macros.hpp" using namespace simple_sensor_simulator; using namespace simple_sensor_simulator::primitives; diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.cpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.cpp new file mode 100644 index 00000000000..1f5b1330c19 --- /dev/null +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.cpp @@ -0,0 +1,250 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "test_primitive.hpp" + +#include + +#include "../../utils/expect_eq_macros.hpp" + +/** + * @note Test basic functionality. Test adding to scene correctness with a sample primitive. + */ +TEST_F(PrimitiveTest, addToScene_sample) +{ + const std::vector expected_vertices = { + {0.0f, 1.0f, -1.0f}, {2.0f, 1.0f, -1.0f}, {0.0f, 3.0f, -1.0f}, {2.0f, 3.0f, -1.0f}, + {0.0f, 1.0f, 1.0f}, {2.0f, 1.0f, 1.0f}, {0.0f, 3.0f, 1.0f}, {2.0f, 3.0f, 1.0f}}; + const auto expected_triangles = primitive_->getTriangles(); + + RTCDevice device = rtcNewDevice(nullptr); + RTCScene scene = rtcNewScene(device); + + const unsigned int geom_id = primitive_->addToScene(device, scene); + ASSERT_NE(geom_id, RTC_INVALID_GEOMETRY_ID); + + const RTCGeometry geom = rtcGetGeometry(scene, geom_id); + ASSERT_NE(geom, nullptr); + + rtcCommitScene(scene); + + // Check vertices + const Vertex * vertex_buffer = + static_cast(rtcGetGeometryBufferData(geom, RTC_BUFFER_TYPE_VERTEX, 0)); + + for (size_t i = 0; i < expected_vertices.size(); ++i) { + EXPECT_VERTEX_EQ(vertex_buffer[i], expected_vertices[i]) + } + + // Check triangles + const Triangle * triangle_buffer = + static_cast(rtcGetGeometryBufferData(geom, RTC_BUFFER_TYPE_INDEX, 0)); + + for (size_t i = 0; i < expected_vertices.size(); ++i) { + EXPECT_TRIANGLE_EQ(triangle_buffer[i], expected_triangles[i]); + } + + rtcReleaseScene(scene); + rtcReleaseDevice(device); +} + +/** + * @note Test function behavior with vertices and triangles set to only zeros. + */ +TEST_F(PrimitiveTest, addToScene_zeros) +{ + const std::vector expected_triangles = {{0, 0, 0}}; + const std::vector expected_vertices = {{1.0f, 2.0f, 0.0f}}; + + primitive_->setVertices({{0.0f, 0.0f, 0.0f}}); + primitive_->setTriangles(expected_triangles); + + RTCDevice device = rtcNewDevice(nullptr); + RTCScene scene = rtcNewScene(device); + + const unsigned int geom_id = primitive_->addToScene(device, scene); + ASSERT_NE(geom_id, RTC_INVALID_GEOMETRY_ID); + + const RTCGeometry geom = rtcGetGeometry(scene, geom_id); + ASSERT_NE(geom, nullptr); + + rtcCommitScene(scene); + + // Check vertices + const Vertex * vertex_buffer = + static_cast(rtcGetGeometryBufferData(geom, RTC_BUFFER_TYPE_VERTEX, 0)); + + for (size_t i = 0; i < expected_vertices.size(); ++i) { + EXPECT_VERTEX_EQ(vertex_buffer[i], expected_vertices[i]) + } + + // Check triangles + const Triangle * triangle_buffer = + static_cast(rtcGetGeometryBufferData(geom, RTC_BUFFER_TYPE_INDEX, 0)); + + for (size_t i = 0; i < expected_triangles.size(); ++i) { + EXPECT_TRIANGLE_EQ(triangle_buffer[i], expected_triangles[i]); + } + + rtcReleaseScene(scene); + rtcReleaseDevice(device); +} + +/** + * @note Test basic functionality. Test obtaining triangles correctness. + */ +TEST_F(PrimitiveTest, getTriangles) +{ + const std::vector expected_triangles = {{0, 1, 2}, {1, 3, 2}, {4, 5, 6}, {5, 7, 6}, + {0, 1, 4}, {1, 5, 4}, {2, 3, 6}, {3, 7, 6}, + {0, 2, 4}, {2, 6, 4}, {1, 3, 5}, {3, 7, 5}}; + + const auto triangles = primitive_->getTriangles(); + + ASSERT_EQ(triangles.size(), expected_triangles.size()); + for (size_t i = 0; i < triangles.size(); ++i) { + EXPECT_TRIANGLE_EQ(triangles[i], expected_triangles[i]); + } +} + +/** + * @note Test basic functionality. Test obtaining vertex correctness with a sample vertex and a non + * trivial Primitive pose - the goal is to test transformation of vertex elements. + */ +TEST_F(PrimitiveTest, getVertex) +{ + const std::vector expected_vertices = { + {0.0f, 1.0f, -1.0f}, {2.0f, 1.0f, -1.0f}, {0.0f, 3.0f, -1.0f}, {2.0f, 3.0f, -1.0f}, + {0.0f, 1.0f, 1.0f}, {2.0f, 1.0f, 1.0f}, {0.0f, 3.0f, 1.0f}, {2.0f, 3.0f, 1.0f}}; + + const auto vertices = primitive_->getVertex(); + + ASSERT_EQ(vertices.size(), expected_vertices.size()); + for (size_t i = 0; i < vertices.size(); ++i) { + EXPECT_VERTEX_EQ(vertices[i], expected_vertices[i]); + } +} + +/** + * @note Test basic functionality. Test conversion to a convex hull of some concave primitive. + */ +TEST_F(PrimitiveTest, get2DConvexHull_normal) +{ + const std::vector expected_hull = { + utils::makePoint(0.0, 1.0, 0.0), utils::makePoint(0.0, 3.0, 0.0), + utils::makePoint(2.0, 3.0, 0.0), utils::makePoint(2.0, 1.0, 0.0), + utils::makePoint(0.0, 1.0, 0.0)}; + + const auto hull = primitive_->get2DConvexHull(); + + EXPECT_GT(hull.size(), 0); + ASSERT_EQ(hull.size(), expected_hull.size()); + for (size_t i = 0; i < hull.size(); ++i) { + EXPECT_POINT_NEAR(hull[i], expected_hull[i], std::numeric_limits::epsilon()) + } +} + +/** + * @note Test basic functionality. Test conversion to a convex hull of some concave primitive with + * an additional sensor pose transformation - the goal is to test the transformation of convex hull. + */ +TEST_F(PrimitiveTest, get2DConvexHull_withTransform) +{ + const std::vector expected_hull = { + utils::makePoint(-1.0, 0.0, 0.0), utils::makePoint(-1.0, 2.0, 0.0), + utils::makePoint(1.0, 2.0, 0.0), utils::makePoint(1.0, 0.0, 0.0), + utils::makePoint(-1.0, 0.0, 0.0)}; + + const auto sensor_pose = utils::makePose(1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0); + + const auto hull = primitive_->get2DConvexHull(sensor_pose); + + EXPECT_GT(hull.size(), 0); + ASSERT_EQ(hull.size(), expected_hull.size()); + for (size_t i = 0; i < hull.size(); ++i) { + EXPECT_POINT_NEAR(hull[i], expected_hull[i], std::numeric_limits::epsilon()) + } +} + +/** + * @note Test basic functionality. Test min value obtaining in a given axis with a sample primitive. + */ +TEST_F(PrimitiveTest, getMin) +{ + const auto min_x = primitive_->getMin(math::geometry::Axis::X); + + ASSERT_TRUE(min_x.has_value()); + EXPECT_NEAR(min_x.value(), 0.0f, std::numeric_limits::epsilon()); +} + +/** + * @note Test basic functionality. Test min value obtaining in a given axis with a transformation + * with a sample primitive and non trivial sensor pose. + */ +TEST_F(PrimitiveTest, getMin_withTransform) +{ + const auto sensor_pose = utils::makePose(5.0, 2.0, 1.0, 0.0, 0.0, 0.0, 1.0); + + const auto min_x = primitive_->getMin(math::geometry::Axis::X, sensor_pose); + + ASSERT_TRUE(min_x.has_value()); + EXPECT_NEAR(min_x.value(), -5.0f, std::numeric_limits::epsilon()); +} + +/** + * @note Test function behavior when vertices is an empty vector - the goal is to get a nullopt. + */ +TEST_F(PrimitiveTest, getMin_empty) +{ + primitive_->setVertices(std::vector{}); + const auto min_x = primitive_->getMin(math::geometry::Axis::X); + + EXPECT_FALSE(min_x.has_value()); +} + +/** + * @note Test basic functionality. Test max value obtaining in a given axis with a sample primitive. + */ +TEST_F(PrimitiveTest, getMax) +{ + const auto max_x = primitive_->getMax(math::geometry::Axis::X); + + ASSERT_TRUE(max_x.has_value()); + EXPECT_NEAR(max_x.value(), 2.0f, std::numeric_limits::epsilon()); +} + +/** + * @note Test basic functionality. Test max value obtaining in a given axis with a transformation + * with a sample primitive and non trivial sensor pose. + */ +TEST_F(PrimitiveTest, getMax_withTransform) +{ + const auto sensor_pose = utils::makePose(6.0, 3.0, 2.0, 0.0, 0.0, 0.0, 1.0); + + const auto max_x = primitive_->getMax(math::geometry::Axis::X, sensor_pose); + + ASSERT_TRUE(max_x.has_value()); + EXPECT_NEAR(max_x.value(), -4.0f, std::numeric_limits::epsilon()); +} + +/** + * @note Test function behavior when vertices is an empty vector - the goal is to get a nullopt. + */ +TEST_F(PrimitiveTest, getMax_empty) +{ + primitive_->setVertices(std::vector{}); + const auto max_x = primitive_->getMax(math::geometry::Axis::X); + + EXPECT_FALSE(max_x.has_value()); +} diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp new file mode 100644 index 00000000000..3a09fa9e11c --- /dev/null +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp @@ -0,0 +1,92 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SIMPLE_SENSOR_SIMULATOR__TEST__TEST_PRIMITIVE_HPP_ +#define SIMPLE_SENSOR_SIMULATOR__TEST__TEST_PRIMITIVE_HPP_ + +#include +#include + +#include +#include +#include +#include + +#include "../../utils/helper_functions.hpp" + +using namespace simple_sensor_simulator::primitives; +using namespace simple_sensor_simulator; + +namespace simple_sensor_simulator +{ +namespace primitives +{ + +class DummyPrimitive : public Primitive +{ +public: + DummyPrimitive(const std::string & type, const geometry_msgs::msg::Pose & pose) + : Primitive(type, pose) + { + } + + auto setVertices(const std::vector & vertices) -> void { vertices_ = vertices; } + auto setTriangles(const std::vector & triangles) -> void { triangles_ = triangles; } + + auto getVerticesSize() const -> size_t { return vertices_.size(); } + auto getTrianglesSize() const -> size_t { return triangles_.size(); } + + auto getVertices() const -> const std::vector & { return vertices_; } + auto getTriangles() const -> const std::vector & { return triangles_; } +}; + +} // namespace primitives +} // namespace simple_sensor_simulator + +class PrimitiveTest : public ::testing::Test +{ +protected: + PrimitiveTest() + : pose_(utils::makePose(1.0, 2.0, 0.0, 0.0, 0.0, 0.0, 1.0)), + primitive_(std::make_unique("DummyPrimitive", pose_)) + { + primitive_->setVertices( + {{-1.0f, -1.0f, -1.0f}, + {1.0f, -1.0f, -1.0f}, + {-1.0f, 1.0f, -1.0f}, + {1.0f, 1.0f, -1.0f}, + {-1.0f, -1.0f, 1.0f}, + {1.0f, -1.0f, 1.0f}, + {-1.0f, 1.0f, 1.0f}, + {1.0f, 1.0f, 1.0f}}); + primitive_->setTriangles( + {{0, 1, 2}, + {1, 3, 2}, + {4, 5, 6}, + {5, 7, 6}, + {0, 1, 4}, + {1, 5, 4}, + {2, 3, 6}, + {3, 7, 6}, + {0, 2, 4}, + {2, 6, 4}, + {1, 3, 5}, + {3, 7, 5}}); + } + + geometry_msgs::msg::Pose pose_; + std::unique_ptr primitive_; +}; + +#endif // SIMPLE_SENSOR_SIMULATOR__TEST__TEST_PRIMITIVE_HPP_ diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_vertex.cpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_vertex.cpp index 66da446cec3..c0fe3d57057 100644 --- a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_vertex.cpp +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_vertex.cpp @@ -19,7 +19,7 @@ #include #include -#include "../expect_eq_macros.hpp" +#include "../../utils/expect_eq_macros.hpp" using namespace simple_sensor_simulator; diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/expect_eq_macros.hpp b/simulation/simple_sensor_simulator/test/src/utils/expect_eq_macros.hpp similarity index 90% rename from simulation/simple_sensor_simulator/test/src/sensor_simulation/expect_eq_macros.hpp rename to simulation/simple_sensor_simulator/test/src/utils/expect_eq_macros.hpp index c93387428cc..03346fdc438 100644 --- a/simulation/simple_sensor_simulator/test/src/sensor_simulation/expect_eq_macros.hpp +++ b/simulation/simple_sensor_simulator/test/src/utils/expect_eq_macros.hpp @@ -18,6 +18,7 @@ #include #include +#include #include #define EXPECT_POINT_EQ(DATA0, DATA1) \ @@ -65,4 +66,9 @@ EXPECT_FLOAT_EQ(VERTEX.y, POINT.y); \ EXPECT_FLOAT_EQ(VERTEX.z, POINT.z); +#define EXPECT_POSITION_NEAR(POSITION0, POSITION1, TOLERANCE) \ + EXPECT_NEAR(POSITION0.x, POSITION1.x, TOLERANCE); \ + EXPECT_NEAR(POSITION0.y, POSITION1.y, TOLERANCE); \ + EXPECT_NEAR(POSITION0.z, POSITION1.z, TOLERANCE); + #endif // SIMPLE_SENSOR_SIMULATOR__TEST__UTILS__EXPECT_EQ_MACROS_HPP_ diff --git a/simulation/simple_sensor_simulator/test/src/utils/helper_functions.hpp b/simulation/simple_sensor_simulator/test/src/utils/helper_functions.hpp new file mode 100644 index 00000000000..39adaeee487 --- /dev/null +++ b/simulation/simple_sensor_simulator/test/src/utils/helper_functions.hpp @@ -0,0 +1,142 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SIMPLE_SENSOR_SIMULATOR__TEST__UTILS__HELPER_FUNCTIONS_HPP_ +#define SIMPLE_SENSOR_SIMULATOR__TEST__UTILS__HELPER_FUNCTIONS_HPP_ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using EntitySubtype = traffic_simulator_msgs::EntitySubtype; +using EntityType = traffic_simulator_msgs::EntityType; +using EntityStatus = traffic_simulator_msgs::EntityStatus; + +namespace utils +{ + +constexpr auto degToRad(const double deg) -> double { return deg * M_PI / 180.0; } + +inline auto makePoint(const double px, const double py, const double pz) + -> geometry_msgs::msg::Point +{ + return geometry_msgs::build().x(px).y(py).z(pz); +} + +inline auto makePose( + const double px, const double py, const double pz, const double ox, const double oy, + const double oz, const double ow) -> geometry_msgs::msg::Pose +{ + return geometry_msgs::build() + .position(geometry_msgs::build().x(px).y(py).z(pz)) + .orientation(geometry_msgs::build().x(ox).y(oy).z(oz).w(ow)); +} + +inline auto makeDimensions(const double x, const double y, const double z) + -> geometry_msgs::msg::Vector3 +{ + return geometry_msgs::build().x(x).y(y).z(z); +} + +inline auto constructLidarConfiguration( + const std::string & entity, const std::string & architecture_type, + const double lidar_sensor_delay, const double horizontal_resolution) + -> const simulation_api_schema::LidarConfiguration +{ + simulation_api_schema::LidarConfiguration configuration; + configuration.set_horizontal_resolution(horizontal_resolution); + configuration.set_architecture_type(architecture_type); + configuration.set_entity(entity); + configuration.set_lidar_sensor_delay(lidar_sensor_delay); + + configuration.set_scan_duration(0.1); + configuration.add_vertical_angles(degToRad(-15.0)); + configuration.add_vertical_angles(degToRad(-13.0)); + configuration.add_vertical_angles(degToRad(-11.0)); + configuration.add_vertical_angles(degToRad(-9.0)); + configuration.add_vertical_angles(degToRad(-7.0)); + configuration.add_vertical_angles(degToRad(-5.0)); + configuration.add_vertical_angles(degToRad(-3.0)); + configuration.add_vertical_angles(degToRad(-1.0)); + configuration.add_vertical_angles(degToRad(1.0)); + configuration.add_vertical_angles(degToRad(3.0)); + configuration.add_vertical_angles(degToRad(5.0)); + configuration.add_vertical_angles(degToRad(7.0)); + configuration.add_vertical_angles(degToRad(9.0)); + configuration.add_vertical_angles(degToRad(11.0)); + configuration.add_vertical_angles(degToRad(13.0)); + configuration.add_vertical_angles(degToRad(15.0)); + return configuration; +} + +inline auto createEntityStatus( + const std::string & name, const EntityType::Enum type, + const std::optional & subtype, const geometry_msgs::msg::Pose & pose, + const geometry_msgs::msg::Vector3 & dimensions) -> EntityStatus +{ + EntityStatus status; + status.set_name(name); + status.mutable_type()->set_type(type); + + if (subtype) { + status.mutable_subtype()->set_value(*subtype); + } + + auto new_pose = status.mutable_pose(); + auto new_position = new_pose->mutable_position(); + new_position->set_x(pose.position.x); + new_position->set_y(pose.position.y); + new_position->set_z(pose.position.z); + + auto new_orientation = new_pose->mutable_orientation(); + new_orientation->set_x(pose.orientation.x); + new_orientation->set_y(pose.orientation.y); + new_orientation->set_z(pose.orientation.z); + new_orientation->set_w(pose.orientation.w); + + auto new_bounding_box = status.mutable_bounding_box(); + auto new_dimensions = new_bounding_box->mutable_dimensions(); + new_dimensions->set_x(dimensions.x); + new_dimensions->set_y(dimensions.y); + new_dimensions->set_z(dimensions.z); + + return status; +} + +inline auto makeEntity( + const std::string & name, const EntityType::Enum type, const EntitySubtype::Enum subtype, + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & dimensions) + -> EntityStatus +{ + return createEntityStatus(name, type, subtype, pose, dimensions); +} + +inline auto makeEntity( + const std::string & name, const EntityType::Enum type, const geometry_msgs::msg::Pose & pose, + const geometry_msgs::msg::Vector3 & dimensions) -> EntityStatus +{ + return createEntityStatus(name, type, std::nullopt, pose, dimensions); +} + +} // namespace utils + +#endif // SIMPLE_SENSOR_SIMULATOR__TEST__UTILS__HELPER_FUNCTIONS_HPP_ From b99f93e7251a0cec2613bb45b89e062720d3eef5 Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Tue, 25 Jun 2024 11:50:12 +0200 Subject: [PATCH 007/304] Test: [RJD-937] to Implement Unit tests on simple_sensor_simulator - Added missed header file --- .../test/src/sensor_simulation/primitives/test_primitive.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp index 3a09fa9e11c..3a752620be1 100644 --- a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp @@ -16,10 +16,10 @@ #define SIMPLE_SENSOR_SIMULATOR__TEST__TEST_PRIMITIVE_HPP_ #include -#include #include #include +#include #include #include From 706df6942119dab1b97d3871b7fca13634bcef7c Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Wed, 3 Jul 2024 13:38:19 +0200 Subject: [PATCH 008/304] feat(simple_sensor_simulator): add imu_sensor --- .../simple_sensor_simulator/CMakeLists.txt | 1 + .../sensor_simulation/imu/imu_sensor.hpp | 90 +++++++++++++++++++ .../src/sensor_simulation/imu/imu_sensor.cpp | 67 ++++++++++++++ .../proto/simulation_api_schema.proto | 27 ++++++ 4 files changed, 185 insertions(+) create mode 100644 simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp create mode 100644 simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp diff --git a/simulation/simple_sensor_simulator/CMakeLists.txt b/simulation/simple_sensor_simulator/CMakeLists.txt index 4e3d828ec97..5c3eede4d60 100644 --- a/simulation/simple_sensor_simulator/CMakeLists.txt +++ b/simulation/simple_sensor_simulator/CMakeLists.txt @@ -35,6 +35,7 @@ include_directories( ament_auto_add_library(simple_sensor_simulator_component SHARED src/sensor_simulation/detection_sensor/detection_sensor.cpp src/sensor_simulation/lidar/lidar_sensor.cpp + src/sensor_simulation/imu/imu_sensor.cpp src/sensor_simulation/lidar/raycaster.cpp src/sensor_simulation/occupancy_grid/occupancy_grid_sensor.cpp src/sensor_simulation/occupancy_grid/occupancy_grid_builder.cpp diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp new file mode 100644 index 00000000000..a34c873073b --- /dev/null +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp @@ -0,0 +1,90 @@ +// Copyright 2024 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__IMU_SENSOR_HPP_ +#define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__IMU_SENSOR_HPP_ + +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace simple_sensor_simulator +{ +class ImuSensorBase +{ +public: + explicit ImuSensorBase(const simulation_api_schema::ImuSensorConfiguration & configuration) + : entity_name_(configuration.entity()), + add_noise_(configuration.add_noise()), + noise_standard_deviation_(configuration.noise_standard_deviation()), + random_generator_(configuration.use_seed() ? configuration.seed() : std::random_device{}()), + noise_distribution_(0.0, noise_standard_deviation_) + { + } + + virtual ~ImuSensorBase() = default; + + virtual auto update( + const rclcpp::Time & current_ros_time, + const std::vector & statuses) const -> bool = 0; + +protected: + const std::string entity_name_; + const bool add_noise_; + const double noise_standard_deviation_; + mutable std::mt19937 random_generator_; + mutable std::normal_distribution<> noise_distribution_; +}; + +template +class ImuSensor : public ImuSensorBase +{ +public: + explicit ImuSensor( + const simulation_api_schema::ImuSensorConfiguration & configuration, + const typename rclcpp::Publisher::SharedPtr & publisher) + : ImuSensorBase(configuration), publisher_(publisher) + { + } + + auto update( + const rclcpp::Time & current_ros_time, + const std::vector & statuses) const -> bool + { + for (const auto & status : statuses) { + if (status.name() == entity_name_) { + traffic_simulator_msgs::msg::EntityStatus status_msg; + simulation_interface::toMsg(status, status_msg); + publisher_->publish(generateMessage(current_ros_time, status_msg)); + return true; + } + } + return false; + } + +private: + auto generateMessage( + const rclcpp::Time & current_ros_time, + const traffic_simulator_msgs::msg::EntityStatus & status) const -> const sensor_msgs::msg::Imu; + + const rclcpp::Publisher::SharedPtr publisher_; +}; +} // namespace simple_sensor_simulator +#endif // SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__IMU_SENSOR_HPP_ diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp new file mode 100644 index 00000000000..be272519ad3 --- /dev/null +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp @@ -0,0 +1,67 @@ +// Copyright 2024 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include + +namespace simple_sensor_simulator +{ +template <> +auto ImuSensor::generateMessage( + const rclcpp::Time & current_ros_time, + const traffic_simulator_msgs::msg::EntityStatus & status) const -> const sensor_msgs::msg::Imu +{ + const auto applyNoise = [&](geometry_msgs::msg::Vector3 & v) { + if (add_noise_) { + v.x += noise_distribution_(random_generator_); + v.y += noise_distribution_(random_generator_); + v.z += noise_distribution_(random_generator_); + } + }; + + auto imu_msg = sensor_msgs::msg::Imu(); + imu_msg.header.stamp = current_ros_time; + imu_msg.header.frame_id = "imu_frame"; + + // Apply noise + auto orientation_rpy = math::geometry::convertQuaternionToEulerAngle(status.pose.orientation); + applyNoise(orientation_rpy); + auto twist = status.action_status.twist; + applyNoise(twist.angular); + auto accel = status.action_status.accel; + applyNoise(accel.linear); + + // Set data + imu_msg.orientation = math::geometry::convertEulerAngleToQuaternion(orientation_rpy); + imu_msg.angular_velocity.x = twist.angular.x; + imu_msg.angular_velocity.y = twist.angular.y; + imu_msg.angular_velocity.z = twist.angular.z; + imu_msg.linear_acceleration.x = accel.linear.x; + imu_msg.linear_acceleration.y = accel.linear.y; + imu_msg.linear_acceleration.z = accel.linear.z; + + // Set covariance + imu_msg.orientation_covariance = {std::pow(noise_standard_deviation_, 2), 0, 0, 0, + std::pow(noise_standard_deviation_, 2), 0, 0, 0, + std::pow(noise_standard_deviation_, 2)}; + imu_msg.angular_velocity_covariance = {std::pow(noise_standard_deviation_, 2), 0, 0, 0, + std::pow(noise_standard_deviation_, 2), 0, 0, 0, + std::pow(noise_standard_deviation_, 2)}; + imu_msg.linear_acceleration_covariance = {std::pow(noise_standard_deviation_, 2), 0, 0, 0, + std::pow(noise_standard_deviation_, 2), 0, 0, 0, + std::pow(noise_standard_deviation_, 2)}; + return imu_msg; +} +} // namespace simple_sensor_simulator diff --git a/simulation/simulation_interface/proto/simulation_api_schema.proto b/simulation/simulation_interface/proto/simulation_api_schema.proto index b2b4b409d44..37afc2d8c63 100644 --- a/simulation/simulation_interface/proto/simulation_api_schema.proto +++ b/simulation/simulation_interface/proto/simulation_api_schema.proto @@ -33,6 +33,17 @@ message PseudoTrafficLightDetectorConfiguration { string architecture_type = 1; // Autoware architecture type. } +/** + * Parameter configuration of the imu sensor + **/ + message ImuSensorConfiguration { + string entity = 1; // Name of the entity which you want to attach imu. + bool add_noise = 2; + bool use_seed = 3; + int32 seed = 4; + double noise_standard_deviation = 5; +} + /** * Parameter configuration of the lidar sensor **/ @@ -199,6 +210,20 @@ message UpdateEntityStatusResponse { repeated UpdatedEntityStatus status = 2; // List of updated entity status in sensor/dynamics simulator } +/** + * Requests attaching a imu sensor to the target entity. + **/ + message AttachImuSensorRequest { + ImuSensorConfiguration configuration = 1; // Configuration of the imu sensor. +} + +/** + * Requests attaching a imu sensor to the target entity. + **/ + message AttachImuSensorResponse { + Result result = 1; // Result of [AttachImuSensorRequest](#AttachImuSensorRequest) +} + /** * Requests attaching a traffic light detector emulator. **/ @@ -342,6 +367,7 @@ message SimulationRequest { UpdateTrafficLightsRequest update_traffic_lights = 11; AttachPseudoTrafficLightDetectorRequest attach_pseudo_traffic_light_detector = 13; UpdateStepTimeRequest update_step_time = 14; + AttachImuSensorRequest attach_imu_sensor = 15; } } @@ -364,5 +390,6 @@ message SimulationResponse { UpdateTrafficLightsResponse update_traffic_lights = 11; AttachPseudoTrafficLightDetectorResponse attach_pseudo_traffic_light_detector = 13; UpdateStepTimeResponse update_step_time = 14; + AttachImuSensorResponse attach_imu_sensor = 15; } } From aeff9d3af18e74ee717e3b93b11b95d1e0363c9d Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Wed, 3 Jul 2024 13:39:02 +0200 Subject: [PATCH 009/304] feat(simulator_core, api, zmq): add attachImuSensor, add update imu sensors --- .../openscenario_interpreter/simulator_core.hpp | 10 ++++++++++ .../sensor_simulation/sensor_simulation.hpp | 11 +++++++++++ .../simple_sensor_simulator.hpp | 3 +++ .../src/sensor_simulation/sensor_simulation.cpp | 5 ++++- .../src/simple_sensor_simulator.cpp | 10 ++++++++++ .../simulation_interface/zmq_multi_client.hpp | 3 +++ .../simulation_interface/zmq_multi_server.hpp | 3 ++- .../simulation_interface/src/zmq_multi_client.cpp | 12 ++++++++++++ .../simulation_interface/src/zmq_multi_server.cpp | 4 ++++ .../include/traffic_simulator/api/api.hpp | 4 ++++ simulation/traffic_simulator/src/api/api.cpp | 8 ++++++++ 11 files changed, 71 insertions(+), 2 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp index 927d9374031..83faef8fc00 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp @@ -333,6 +333,16 @@ class SimulatorCore }()); if (controller.isAutoware()) { + core->attachImuSensor(entity_ref, [&]() { + simulation_api_schema::ImuSensorConfiguration configuration; + configuration.set_entity(entity_ref); + configuration.set_add_noise(false); + configuration.set_use_seed(true); + configuration.set_seed(0); + configuration.set_noise_standard_deviation(0.01); + return configuration; + }()); + core->attachLidarSensor( entity_ref, controller.properties.template get("pointcloudPublishingDelay")); diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/sensor_simulation.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/sensor_simulation.hpp index 6927a364d4f..20f274f3276 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/sensor_simulation.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/sensor_simulation.hpp @@ -25,6 +25,7 @@ #include #include #include +#include #include #include #include @@ -114,12 +115,22 @@ class SensorSimulation } } + auto attachImuSensor( + const double /*current_simulation_time*/, + const simulation_api_schema::ImuSensorConfiguration & configuration, rclcpp::Node & node) + -> void + { + imu_sensors_.push_back(std::make_unique>( + configuration, node.create_publisher("/sensing/imu/imu_data", 1))); + } + auto updateSensorFrame( double current_simulation_time, const rclcpp::Time & current_ros_time, const std::vector &, const simulation_api_schema::UpdateTrafficLightsRequest &) -> void; private: + std::vector> imu_sensors_; std::vector> lidar_sensors_; std::vector> detection_sensors_; std::vector> occupancy_grid_sensors_; diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/simple_sensor_simulator.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/simple_sensor_simulator.hpp index ce7ac052d91..8d3f168c768 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/simple_sensor_simulator.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/simple_sensor_simulator.hpp @@ -119,6 +119,9 @@ class ScenarioSimulator : public rclcpp::Node auto despawnEntity(const simulation_api_schema::DespawnEntityRequest &) -> simulation_api_schema::DespawnEntityResponse; + auto attachImuSensor(const simulation_api_schema::AttachImuSensorRequest &) + -> simulation_api_schema::AttachImuSensorResponse; + auto attachDetectionSensor(const simulation_api_schema::AttachDetectionSensorRequest &) -> simulation_api_schema::AttachDetectionSensorResponse; diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/sensor_simulation.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/sensor_simulation.cpp index 411d5c28f9a..f6f3716f62a 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/sensor_simulation.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/sensor_simulation.cpp @@ -24,8 +24,11 @@ auto SensorSimulation::updateSensorFrame( const std::vector & entities, const simulation_api_schema::UpdateTrafficLightsRequest & update_traffic_lights_request) -> void { - std::vector lidar_detected_objects = {}; + for (auto & sensor : imu_sensors_) { + sensor->update(current_ros_time, entities); + } + std::vector lidar_detected_objects = {}; for (auto & sensor : lidar_sensors_) { sensor->update(current_simulation_time, entities, current_ros_time); for (const auto & object : sensor->getDetectedObjects()) { diff --git a/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp b/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp index 95110509a6e..3bd61e6947a 100644 --- a/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp +++ b/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp @@ -38,6 +38,7 @@ ScenarioSimulator::ScenarioSimulator(const rclcpp::NodeOptions & options) [this](auto &&... xs) { return spawnMiscObjectEntity(std::forward(xs)...); }, [this](auto &&... xs) { return despawnEntity(std::forward(xs)...); }, [this](auto &&... xs) { return updateEntityStatus(std::forward(xs)...); }, + [this](auto &&... xs) { return attachImuSensor(std::forward(xs)...); }, [this](auto &&... xs) { return attachLidarSensor(std::forward(xs)...); }, [this](auto &&... xs) { return attachDetectionSensor(std::forward(xs)...); }, [this](auto &&... xs) { return attachOccupancyGridSensor(std::forward(xs)...); }, @@ -300,6 +301,15 @@ auto ScenarioSimulator::despawnEntity(const simulation_api_schema::DespawnEntity return res; } +auto ScenarioSimulator::attachImuSensor(const simulation_api_schema::AttachImuSensorRequest & req) + -> simulation_api_schema::AttachImuSensorResponse +{ + sensor_sim_.attachImuSensor(current_simulation_time_, req.configuration(), *this); + auto res = simulation_api_schema::AttachImuSensorResponse(); + res.mutable_result()->set_success(true); + return res; +} + auto ScenarioSimulator::attachDetectionSensor( const simulation_api_schema::AttachDetectionSensorRequest & req) -> simulation_api_schema::AttachDetectionSensorResponse diff --git a/simulation/simulation_interface/include/simulation_interface/zmq_multi_client.hpp b/simulation/simulation_interface/include/simulation_interface/zmq_multi_client.hpp index 1ecd65017cc..72a78f7d456 100644 --- a/simulation/simulation_interface/include/simulation_interface/zmq_multi_client.hpp +++ b/simulation/simulation_interface/include/simulation_interface/zmq_multi_client.hpp @@ -67,6 +67,9 @@ class MultiClient auto call(const simulation_api_schema::UpdateEntityStatusRequest &) -> simulation_api_schema::UpdateEntityStatusResponse; + auto call(const simulation_api_schema::AttachImuSensorRequest &) + -> simulation_api_schema::AttachImuSensorResponse; + auto call(const simulation_api_schema::AttachLidarSensorRequest &) -> simulation_api_schema::AttachLidarSensorResponse; diff --git a/simulation/simulation_interface/include/simulation_interface/zmq_multi_server.hpp b/simulation/simulation_interface/include/simulation_interface/zmq_multi_server.hpp index c9156cbed1e..dea00eb3818 100644 --- a/simulation/simulation_interface/include/simulation_interface/zmq_multi_server.hpp +++ b/simulation/simulation_interface/include/simulation_interface/zmq_multi_server.hpp @@ -67,6 +67,7 @@ class MultiServer DEFINE_FUNCTION_TYPE(SpawnMiscObjectEntity); DEFINE_FUNCTION_TYPE(DespawnEntity); DEFINE_FUNCTION_TYPE(UpdateEntityStatus); + DEFINE_FUNCTION_TYPE(AttachImuSensor); DEFINE_FUNCTION_TYPE(AttachLidarSensor); DEFINE_FUNCTION_TYPE(AttachDetectionSensor); DEFINE_FUNCTION_TYPE(AttachOccupancyGridSensor); @@ -78,7 +79,7 @@ class MultiServer std::tuple< Initialize, UpdateFrame, SpawnVehicleEntity, SpawnPedestrianEntity, SpawnMiscObjectEntity, - DespawnEntity, UpdateEntityStatus, AttachLidarSensor, AttachDetectionSensor, + DespawnEntity, UpdateEntityStatus, AttachImuSensor, AttachLidarSensor, AttachDetectionSensor, AttachOccupancyGridSensor, UpdateTrafficLights, AttachPseudoTrafficLightDetector, UpdateStepTime> functions_; diff --git a/simulation/simulation_interface/src/zmq_multi_client.cpp b/simulation/simulation_interface/src/zmq_multi_client.cpp index c8993841e3c..a905963f072 100644 --- a/simulation/simulation_interface/src/zmq_multi_client.cpp +++ b/simulation/simulation_interface/src/zmq_multi_client.cpp @@ -146,6 +146,18 @@ auto MultiClient::call(const simulation_api_schema::UpdateEntityStatusRequest & } } +auto MultiClient::call(const simulation_api_schema::AttachImuSensorRequest & request) + -> simulation_api_schema::AttachImuSensorResponse +{ + if (is_running) { + auto simulation_request = simulation_api_schema::SimulationRequest(); + *simulation_request.mutable_attach_imu_sensor() = request; + return call(simulation_request).attach_imu_sensor(); + } else { + return {}; + } +} + auto MultiClient::call(const simulation_api_schema::AttachLidarSensorRequest & request) -> simulation_api_schema::AttachLidarSensorResponse { diff --git a/simulation/simulation_interface/src/zmq_multi_server.cpp b/simulation/simulation_interface/src/zmq_multi_server.cpp index d5c0ee95298..e10bb68cbbd 100644 --- a/simulation/simulation_interface/src/zmq_multi_server.cpp +++ b/simulation/simulation_interface/src/zmq_multi_server.cpp @@ -57,6 +57,10 @@ void MultiServer::poll() *sim_response.mutable_update_entity_status() = std::get(functions_)(proto.update_entity_status()); break; + case simulation_api_schema::SimulationRequest::RequestCase::kAttachImuSensor: + *sim_response.mutable_attach_imu_sensor() = + std::get(functions_)(proto.attach_imu_sensor()); + break; case simulation_api_schema::SimulationRequest::RequestCase::kAttachLidarSensor: *sim_response.mutable_attach_lidar_sensor() = std::get(functions_)(proto.attach_lidar_sensor()); diff --git a/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp b/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp index 2f81a889404..38f5e7f4d65 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp @@ -251,6 +251,10 @@ class API std::optional getTimeHeadway(const std::string & from, const std::string & to); + auto attachImuSensor( + const std::string &, const simulation_api_schema::ImuSensorConfiguration & configuration) + -> bool; + bool attachPseudoTrafficLightDetector( const simulation_api_schema::PseudoTrafficLightDetectorConfiguration &); diff --git a/simulation/traffic_simulator/src/api/api.cpp b/simulation/traffic_simulator/src/api/api.cpp index fbf565729d6..975422e577a 100644 --- a/simulation/traffic_simulator/src/api/api.cpp +++ b/simulation/traffic_simulator/src/api/api.cpp @@ -192,6 +192,14 @@ auto API::setEntityStatus( setEntityStatus(name, canonicalize(status)); } +auto API::attachImuSensor( + const std::string &, const simulation_api_schema::ImuSensorConfiguration & configuration) -> bool +{ + simulation_api_schema::AttachImuSensorRequest req; + *req.mutable_configuration() = configuration; + return zeromq_client_.call(req).result().success(); +} + bool API::attachPseudoTrafficLightDetector( const simulation_api_schema::PseudoTrafficLightDetectorConfiguration & configuration) { From 0b3dc30d7c5c533b275c1534f93970f230963d65 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Wed, 3 Jul 2024 15:28:29 +0200 Subject: [PATCH 010/304] feat(simple_sensor_simulator, imu): add gravity vector, tidy up --- .../simulator_core.hpp | 1 + .../sensor_simulation/imu/imu_sensor.hpp | 15 ++++---- .../src/sensor_simulation/imu/imu_sensor.cpp | 37 ++++++++++++++----- .../proto/simulation_api_schema.proto | 9 +++-- 4 files changed, 41 insertions(+), 21 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp index 83faef8fc00..6bce97619f8 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp @@ -336,6 +336,7 @@ class SimulatorCore core->attachImuSensor(entity_ref, [&]() { simulation_api_schema::ImuSensorConfiguration configuration; configuration.set_entity(entity_ref); + configuration.set_add_gravity(true); configuration.set_add_noise(false); configuration.set_use_seed(true); configuration.set_seed(0); diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp index a34c873073b..9ec044b3801 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp @@ -31,9 +31,9 @@ class ImuSensorBase { public: explicit ImuSensorBase(const simulation_api_schema::ImuSensorConfiguration & configuration) - : entity_name_(configuration.entity()), + : add_gravity_(configuration.add_gravity()), add_noise_(configuration.add_noise()), - noise_standard_deviation_(configuration.noise_standard_deviation()), + noise_standard_deviation_(add_noise_ ? configuration.noise_standard_deviation() : 0.0), random_generator_(configuration.use_seed() ? configuration.seed() : std::random_device{}()), noise_distribution_(0.0, noise_standard_deviation_) { @@ -46,7 +46,7 @@ class ImuSensorBase const std::vector & statuses) const -> bool = 0; protected: - const std::string entity_name_; + const bool add_gravity_; const bool add_noise_; const double noise_standard_deviation_; mutable std::mt19937 random_generator_; @@ -60,13 +60,13 @@ class ImuSensor : public ImuSensorBase explicit ImuSensor( const simulation_api_schema::ImuSensorConfiguration & configuration, const typename rclcpp::Publisher::SharedPtr & publisher) - : ImuSensorBase(configuration), publisher_(publisher) + : ImuSensorBase(configuration), entity_name_(configuration.entity()), publisher_(publisher) { } auto update( const rclcpp::Time & current_ros_time, - const std::vector & statuses) const -> bool + const std::vector & statuses) const -> bool override { for (const auto & status : statuses) { if (status.name() == entity_name_) { @@ -82,9 +82,10 @@ class ImuSensor : public ImuSensorBase private: auto generateMessage( const rclcpp::Time & current_ros_time, - const traffic_simulator_msgs::msg::EntityStatus & status) const -> const sensor_msgs::msg::Imu; + const traffic_simulator_msgs::msg::EntityStatus & status) const -> const MessageType; - const rclcpp::Publisher::SharedPtr publisher_; + const std::string entity_name_; + const typename rclcpp::Publisher::SharedPtr publisher_; }; } // namespace simple_sensor_simulator #endif // SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__IMU_SENSOR_HPP_ diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp index be272519ad3..db5e2553cd9 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp @@ -12,6 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include +#include +#include + #include #include #include @@ -24,24 +28,37 @@ auto ImuSensor::generateMessage( const traffic_simulator_msgs::msg::EntityStatus & status) const -> const sensor_msgs::msg::Imu { const auto applyNoise = [&](geometry_msgs::msg::Vector3 & v) { - if (add_noise_) { - v.x += noise_distribution_(random_generator_); - v.y += noise_distribution_(random_generator_); - v.z += noise_distribution_(random_generator_); - } + v.x += noise_distribution_(random_generator_); + v.y += noise_distribution_(random_generator_); + v.z += noise_distribution_(random_generator_); }; auto imu_msg = sensor_msgs::msg::Imu(); imu_msg.header.stamp = current_ros_time; - imu_msg.header.frame_id = "imu_frame"; + imu_msg.header.frame_id = "imu_link"; - // Apply noise auto orientation_rpy = math::geometry::convertQuaternionToEulerAngle(status.pose.orientation); - applyNoise(orientation_rpy); auto twist = status.action_status.twist; - applyNoise(twist.angular); auto accel = status.action_status.accel; - applyNoise(accel.linear); + + // Apply noise + if (add_noise_) { + applyNoise(orientation_rpy); + applyNoise(twist.angular); + applyNoise(accel.linear); + } + + // Apply gravity + if (add_gravity_) { + tf2::Quaternion orientation_quaternion; + orientation_quaternion.setRPY(orientation_rpy.x, orientation_rpy.y, orientation_rpy.z); + tf2::Matrix3x3 rotation_matrix(orientation_quaternion); + tf2::Vector3 gravity(0.0, 0.0, -9.81); + tf2::Vector3 transformed_gravity = rotation_matrix * gravity; + accel.linear.x += transformed_gravity.x(); + accel.linear.y += transformed_gravity.y(); + accel.linear.z += transformed_gravity.z(); + } // Set data imu_msg.orientation = math::geometry::convertEulerAngleToQuaternion(orientation_rpy); diff --git a/simulation/simulation_interface/proto/simulation_api_schema.proto b/simulation/simulation_interface/proto/simulation_api_schema.proto index 37afc2d8c63..a76df569687 100644 --- a/simulation/simulation_interface/proto/simulation_api_schema.proto +++ b/simulation/simulation_interface/proto/simulation_api_schema.proto @@ -38,10 +38,11 @@ message PseudoTrafficLightDetectorConfiguration { **/ message ImuSensorConfiguration { string entity = 1; // Name of the entity which you want to attach imu. - bool add_noise = 2; - bool use_seed = 3; - int32 seed = 4; - double noise_standard_deviation = 5; + bool add_gravity = 2; // If true, gravity will be added to the acceleration vector + bool add_noise = 3; // If true, noise will be added to every vector published + bool use_seed = 4; // If true, as seed will be used the passed value, if not it will be random + int32 seed = 5; // Seed for random number generator + double noise_standard_deviation = 6; // Standard deviation for noise (normal distribution, mean equal to 0.0) } /** From 08945706f1064b13f0d76c7e4c3ffd578a95e705 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mert=20=C3=87olak?= Date: Fri, 5 Jul 2024 17:06:31 +0300 Subject: [PATCH 011/304] fix(simple_sensor_simulator): fix eigen variable definition --- .../src/vehicle_simulation/ego_entity_simulation.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp index 9f3ee147026..80fd95ce565 100644 --- a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp +++ b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp @@ -445,7 +445,7 @@ auto EgoEntitySimulation::getCurrentPose(const double pitch_angle = 0.) const -> geometry_msgs::msg::Pose { using math::geometry::operator*; - const auto relative_position = + const Eigen::Vector3d relative_position = math::geometry::getRotationMatrix(initial_pose_.orientation) * world_relative_position_; const auto relative_orientation = math::geometry::convertEulerAngleToQuaternion( geometry_msgs::build() From ce246a194f6c4f8e3b65063d88442dc16818a21c Mon Sep 17 00:00:00 2001 From: koki suzuki Date: Wed, 10 Jul 2024 16:35:42 +0900 Subject: [PATCH 012/304] add Longitudinal_control.md --- docs/developer_guide/Longitudinal_control.md | 136 +++++++++++++++++++ 1 file changed, 136 insertions(+) create mode 100644 docs/developer_guide/Longitudinal_control.md diff --git a/docs/developer_guide/Longitudinal_control.md b/docs/developer_guide/Longitudinal_control.md new file mode 100644 index 00000000000..9dbd9b0a7db --- /dev/null +++ b/docs/developer_guide/Longitudinal_control.md @@ -0,0 +1,136 @@ +# Longitudinal Control + +traffic_simulator has various ways to control the longitudinal behavior of the npc. + +## List of Longitudinal Controllers + +| Name | Description | +| --------------------------------------------------------- | -------------------------------------------- | +| [**requestSpeedChange**](#requestSpeedChange) | Changes the speed of the npc. | +| [**requestSynchronize**](#requestSynchronize) | Synchronizes the npc with the target entity. | +| [**setLinearVelocity**](#setLinearVelocity) | Sets the linear velocity of the npc. | +| [**setTwist**](#setTwist) | Sets the twist of the npc. | +| [**setAcceleration**](#setAcceleration) | Sets the acceleration of the npc. | +| [**setAccelerationLimit**](#setAccelerationLimit) | Sets the acceleration limit of the npc. | +| [**setAccelerationRateLimit**](#setAccelerationRateLimit) | Sets the acceleration rate limit of the npc. | +| [**setDecelerationLimit**](#setDecelerationLimit) | Sets the deceleration limit of the npc. | +| [**setDecelerationRateLimit**](#setDecelerationRateLimit) | Sets the deceleration rate limit of the npc. | +| [**setVelocityLimit**](#setVelocityLimit) | Sets the velocity limit of the npc. | + +## Details +### requestSpeedChange +By using `API::requestSpeedChange`, you can change the speed of the npc. + +| Value | Type | Description | +| ------------ | ------ | ----------------------------------------------------------- | +| name | string | Name of the npc. | +| target_speed | double | Target speed of the npc. | +| continuous | bool | If true the npc will keep the speed until the next command. | + +| Value | Type | Description | +| ------------ | ------------------------ | ----------------------------------------------------------- | +| name | string | Name of the npc. | +| target_speed | double | Target speed of the npc. | +| transition | speed_change::Transition | Transition type. | +| constraint | speed_change::Constraint | Constraint type. | +| continuous | bool | If true the npc will keep the speed until the next command. | + +| Value | Type | Description | +| ------------ | --------------------------------- | ----------------------------------------------------------- | +| name | string | Name of the npc. | +| target_speed | speed_change::RelativeTargetSpeed | Relative target speed. | +| continuous | bool | If true the npc will keep the speed until the next command. | + +| Value | Type | Description | +| ------------ | --------------------------------- | ----------------------------------------------------------- | +| name | string | Name of the npc. | +| target_speed | speed_change::RelativeTargetSpeed | Relative target speed. | +| transition | speed_change::Transition | Transition type. | +| constraint | speed_change::Constraint | Constraint type. | +| continuous | bool | If true the npc will keep the speed until the next command. | + +### requestSynchronize +By using `API::requestSynchronize`, you can request the entity to adjust speed to stop at the designated lanelet by the time target entity crosses the another designated lanelet. + +| Value | Description | +| ---------------- | ---------------------------------------------------------------------- | +| name | Name of the npc. | +| target_name | Name of the target entity. | +| target_sync_pose | Target lanelet pose for target entity. | +| entity_target | Target lanelet pose for controlling entity. | +| target_speed | Target speed for controlling entity (meter per second). | +| tolerance | Tolerance for how much margin to accept to stop at the target (meter). | + +### setLinearVelocity +By using `API::setLinearVelocity`, you can set the linear velocity of the npc. + +| Value | Type | Description | +| --------------- | ------ | --------------------------- | +| name | string | Name of the npc. | +| linear_velocity | double | Linear velocity of the npc. | + +### setTwist +By using `API::setTwist`, you can set the twist of the npc. + +| Value | Type | Description | +| ----- | ------------------------- | ----------------- | +| name | string | Name of the npc. | +| twist | geometry_msgs::msg::Twist | Twist of the npc. | + +### setAcceleration + +By using `API::setAcceleration`, you can set the acceleration of the npc. + +| Value | Type | Description | +| ------------ | ------------------------- | ------------------------ | +| name | string | Name of the npc. | +| acceleration | geometry_msgs::msg::Accel | Acceleration of the npc. | + +### setAccelerationLimit + +By using `API::setAccelerationLimit`, you can set the acceleration limit of the npc. + +| Value | Type | Description | +| ------------ | ------ | ------------------------------ | +| name | string | Name of the npc. | +| acceleration | double | Acceleration limit of the npc. | + +### setAccelerationRateLimit + +By using `API::setAccelerationRateLimit`, you can set the acceleration rate limit of the npc. + +| Value | Type | Description | +| ----------------- | ------ | ----------------------------------- | +| name | string | Name of the npc. | +| acceleration_rate | double | Acceleration rate limit of the npc. | + +### setDecelerationLimit + +By using `API::setDecelerationLimit`, you can set the deceleration limit of the npc. + +| Value | Type | Description | +| ------------ | ------ | ------------------------------ | +| name | string | Name of the npc. | +| deceleration | double | Deceleration limit of the npc. | + +### setDecelerationRateLimit + +By using `API::setDecelerationRateLimit`, you can set the deceleration rate limit of the npc. + +| Value | Type | Description | +| ----------------- | ------ | ----------------------------------- | +| name | string | Name of the npc. | +| deceleration_rate | double | Deceleration rate limit of the npc. | + +### setVelocityLimit + +By using `API::setVelocityLimit`, you can set the velocity limit of the npc. + +| Value | Type | Description | +| --------------- | ------ | -------------------------- | +| name | string | Name of the npc. | +| lenear_velocity | double | Velocity limit of the npc. | + + + + From 36c15f8302487333eacf438338d8b5aaa138a70a Mon Sep 17 00:00:00 2001 From: koki suzuki Date: Wed, 10 Jul 2024 16:43:18 +0900 Subject: [PATCH 013/304] chore: remove unnecessary lines in Longitudinal_control.md --- docs/developer_guide/Longitudinal_control.md | 4 ---- 1 file changed, 4 deletions(-) diff --git a/docs/developer_guide/Longitudinal_control.md b/docs/developer_guide/Longitudinal_control.md index 9dbd9b0a7db..d4bc38b3738 100644 --- a/docs/developer_guide/Longitudinal_control.md +++ b/docs/developer_guide/Longitudinal_control.md @@ -130,7 +130,3 @@ By using `API::setVelocityLimit`, you can set the velocity limit of the npc. | --------------- | ------ | -------------------------- | | name | string | Name of the npc. | | lenear_velocity | double | Velocity limit of the npc. | - - - - From 5eefcc9c50384a7402715dc1e47cf17fd77a7ad9 Mon Sep 17 00:00:00 2001 From: koki suzuki Date: Wed, 10 Jul 2024 16:45:09 +0900 Subject: [PATCH 014/304] chore: fix typo in Longitudinal_control.md --- docs/developer_guide/Longitudinal_control.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/developer_guide/Longitudinal_control.md b/docs/developer_guide/Longitudinal_control.md index d4bc38b3738..052d1067486 100644 --- a/docs/developer_guide/Longitudinal_control.md +++ b/docs/developer_guide/Longitudinal_control.md @@ -129,4 +129,4 @@ By using `API::setVelocityLimit`, you can set the velocity limit of the npc. | Value | Type | Description | | --------------- | ------ | -------------------------- | | name | string | Name of the npc. | -| lenear_velocity | double | Velocity limit of the npc. | +| linear_velocity | double | Velocity limit of the npc. | From 1a6daf74ba98e06b33d8e5094d13215d5475c36e Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 16 Jul 2024 16:18:31 +0900 Subject: [PATCH 015/304] feat: add ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml --- ...yCondition.RelativeClearanceCondition.yaml | 234 ++++++++++++++++++ 1 file changed, 234 insertions(+) create mode 100644 test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml diff --git a/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml new file mode 100644 index 00000000000..9311a799ac5 --- /dev/null +++ b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml @@ -0,0 +1,234 @@ +OpenSCENARIO: + FileHeader: + revMajor: 0 + revMinor: 0 + date: "1970-01-01T09:00:00+09:00" + author: Kotaro Yoshimoto + description: "" + ParameterDeclarations: + ParameterDeclaration: [] + CatalogLocations: + VehicleCatalog: + Directory: + path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle + RoadNetwork: + LogicFile: + filepath: $(find-pkg-share kashiwanoha_map)/map + Entities: + ScenarioObject: + - name: ego + CatalogReference: &SAMPLE_VEHICLE + catalogName: sample_vehicle + entryName: sample_vehicle + - name: car_1 + CatalogReference: *SAMPLE_VEHICLE + - name: car_2 + CatalogReference: *SAMPLE_VEHICLE + - name: car_3 + CatalogReference: *SAMPLE_VEHICLE + - name: car_4 + CatalogReference: *SAMPLE_VEHICLE + Storyboard: + Init: + Actions: + Private: + - entityRef: ego + PrivateAction: + - TeleportAction: + Position: + LanePosition: &EGO_LANE_POSITION + roadId: "" + laneId: 34513 + s: 10 + offset: 0 + Orientation: + type: relative + h: 0 + p: 0 + r: 0 + - LongitudinalAction: &SPEED_ACTION_ZERO + SpeedAction: + SpeedActionDynamics: + dynamicsDimension: time + value: 0 + dynamicsShape: step + SpeedActionTarget: + AbsoluteTargetSpeed: + value: 0 + - entityRef: car_1 + PrivateAction: + - TeleportAction: + Position: + LanePosition: &CAR_1_LANE_POSITION + << : *EGO_LANE_POSITION + s: 20 + - LongitudinalAction: *SPEED_ACTION_ZERO + - entityRef: car_2 + PrivateAction: + - TeleportAction: + Position: + LanePosition: &CAR_2_LANE_POSITION + << : *EGO_LANE_POSITION + laneId: 34462 + s: 20 + - LongitudinalAction: *SPEED_ACTION_ZERO + - entityRef: car_3 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + << : *EGO_LANE_POSITION + laneId: 34462 + s: 5 + - LongitudinalAction: *SPEED_ACTION_ZERO + - entityRef: car_4 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + << : *EGO_LANE_POSITION + s: 5 + - LongitudinalAction: *SPEED_ACTION_ZERO + Story: + - name: story + Act: + - name: act + ManeuverGroup: + - maximumExecutionCount: 1 + name: maneuver_group + Actors: + selectTriggeringEntities: false + EntityRef: + - entityRef: ego + Maneuver: + - name: maneuver + Event: + - name: success + priority: parallel + Action: + - name: "" + UserDefinedAction: + CustomCommandAction: + type: exitSuccess + StartTrigger: + ConditionGroup: + - Condition: + - name: "" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + EntityRef: + - entityRef: car_1 + distanceBackward: 0 + distanceForward: 9 + freeSpace: false + oppositeLanes: false + - name: "" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + EntityRef: + - entityRef: car_1 + distanceBackward: 0 + distanceForward: 9 + freeSpace: false + oppositeLanes: false + - name: "" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: car_3 + - entityRef: car_4 + EntityCondition: + RelativeDistanceCondition: + coordinateSystem: lane + entityRef: ego + freespace: false # True: distance is measured between closest bounding box points. False: reference point distance is used. + relativeDistanceType: longitudinal + rule: equalTo + value: 10 + - name: "" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: car_1 + - entityRef: car_3 + EntityCondition: + RelativeDistanceCondition: + coordinateSystem: lane + entityRef: ego + freespace: false # True: distance is measured between closest bounding box points. False: reference point distance is used. + relativeDistanceType: lateral + rule: equalTo + value: -1.5 + - name: "" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: car_2 + - entityRef: car_4 + EntityCondition: + RelativeDistanceCondition: + coordinateSystem: lane + entityRef: ego + freespace: false # True: distance is measured between closest bounding box points. False: reference point distance is used. + relativeDistanceType: lateral + rule: equalTo + value: 0.5 + - name: "" + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 10 + rule: greaterThan + - name: failure + priority: parallel + Action: + - name: "" + UserDefinedAction: + CustomCommandAction: + type: exitFailure + StartTrigger: + ConditionGroup: + - Condition: + - name: "" + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 20 + rule: greaterThan + StartTrigger: + ConditionGroup: + - Condition: + - name: "" + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 0 + rule: greaterThan + StopTrigger: + ConditionGroup: [] From bde54c62a5038fff57f4f72054bf41b1d09f6152 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 16 Jul 2024 18:07:31 +0900 Subject: [PATCH 016/304] chore: update OpenSCENARIO version of EntityCondition --- .../syntax/entity_condition.hpp | 53 +++++++++++-------- .../src/syntax/entity_condition.cpp | 30 ++++++----- 2 files changed, 49 insertions(+), 34 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/entity_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/entity_condition.hpp index 19add645326..e1a4f23ccab 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/entity_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/entity_condition.hpp @@ -23,27 +23,38 @@ namespace openscenario_interpreter { inline namespace syntax { -/* ---- EntityCondition -------------------------------------------------------- - * - * - * - * - * - * - * - * - * - * - * - * - * - * - * - * - * - * - * - * -------------------------------------------------------------------------- */ +/* + EntityCondition (OpenSCENARIO XML 1.3) + + Defines a specific condition on an entity. + + + + + + + + + + + + + + + + + deprecated + + + + + + + + + + + */ struct EntityCondition : public ComplexType { explicit EntityCondition(const pugi::xml_node &, Scope &, const TriggeringEntities &); diff --git a/openscenario/openscenario_interpreter/src/syntax/entity_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/entity_condition.cpp index 9577b8f9453..df89c5ba0fe 100644 --- a/openscenario/openscenario_interpreter/src/syntax/entity_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/entity_condition.cpp @@ -18,6 +18,7 @@ #include #include #include +#include #include #include #include @@ -32,19 +33,22 @@ EntityCondition::EntityCondition( // clang-format off : ComplexType( choice(node, - std::make_pair( "EndOfRoadCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), - std::make_pair( "CollisionCondition", [&](const auto & node) { return make< CollisionCondition>(node, scope, triggering_entities); }), - std::make_pair( "OffroadCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), - std::make_pair( "TimeHeadwayCondition", [&](const auto & node) { return make< TimeHeadwayCondition>(node, scope, triggering_entities); }), - std::make_pair( "TimeToCollisionCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), - std::make_pair( "AccelerationCondition", [&](const auto & node) { return make< AccelerationCondition>(node, scope, triggering_entities); }), - std::make_pair( "StandStillCondition", [&](const auto & node) { return make< StandStillCondition>(node, scope, triggering_entities); }), - std::make_pair( "SpeedCondition", [&](const auto & node) { return make< SpeedCondition>(node, scope, triggering_entities); }), - std::make_pair( "RelativeSpeedCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), - std::make_pair("TraveledDistanceCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), - std::make_pair( "ReachPositionCondition", [&](const auto & node) { return make< ReachPositionCondition>(node, scope, triggering_entities); }), - std::make_pair( "DistanceCondition", [&](const auto & node) { return make< DistanceCondition>(node, scope, triggering_entities); }), - std::make_pair("RelativeDistanceCondition", [&](const auto & node) { return make(node, scope, triggering_entities); }) + std::make_pair( "EndOfRoadCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), + std::make_pair( "CollisionCondition", [&](const auto & node) { return make< CollisionCondition>(node, scope, triggering_entities); }), + std::make_pair( "OffroadCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), + std::make_pair( "TimeHeadwayCondition", [&](const auto & node) { return make< TimeHeadwayCondition>(node, scope, triggering_entities); }), + std::make_pair( "TimeToCollisionCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), + std::make_pair( "AccelerationCondition", [&](const auto & node) { return make< AccelerationCondition>(node, scope, triggering_entities); }), + std::make_pair( "StandStillCondition", [&](const auto & node) { return make< StandStillCondition>(node, scope, triggering_entities); }), + std::make_pair( "SpeedCondition", [&](const auto & node) { return make< SpeedCondition>(node, scope, triggering_entities); }), + std::make_pair( "RelativeSpeedCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), + std::make_pair( "TraveledDistanceCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), + std::make_pair( "ReachPositionCondition", [&](const auto & node) { return make< ReachPositionCondition>(node, scope, triggering_entities); }), + std::make_pair( "DistanceCondition", [&](const auto & node) { return make< DistanceCondition>(node, scope, triggering_entities); }), + std::make_pair( "RelativeDistanceCondition", [&](const auto & node) { return make< RelativeDistanceCondition>(node, scope, triggering_entities); }), + std::make_pair("RelativeClearanceCondition", [&](const auto & node) { return make(node, scope, triggering_entities); }), + std::make_pair( "AngleCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), + std::make_pair( "RelativeAngleCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }) )) // clang-format on { From d085cea2f5ae53ce750f190decc6e68d37024ec1 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 16 Jul 2024 18:08:15 +0900 Subject: [PATCH 017/304] fix: replace freespace with freeSpace in RelativeClearanceCondition --- .../syntax/relative_clearance_condition.hpp | 2 +- .../src/syntax/relative_clearance_condition.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp index 1255d03da93..1433fb11306 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp @@ -55,7 +55,7 @@ struct RelativeClearanceCondition : private Scope, private SimulatorCore::Condit /* If false, then entityRefs are only considered to be on the lane if their reference point is within the checked area; otherwise the whole bounding box is considered. */ - const Boolean freespace; + const Boolean free_space; /* If true, then also lanes in the opposite direction are considered; otherwise only lanes in the same direction are considered. diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index 6506f879407..32ce5986d23 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -27,7 +27,7 @@ RelativeClearanceCondition::RelativeClearanceCondition( : Scope(scope), distance_backward(readAttribute("distanceBackward", node, scope, 0.0)), distance_forward(readAttribute("distanceForward", node, scope, 0.0)), - freespace(readAttribute("freespace", node, scope)), + free_space(readAttribute("freeSpace", node, scope)), opposite_lanes(readAttribute("oppositeLanes", node, scope)), relative_lane_range(readElements("RelativeLaneRange", node, scope)), entity_refs(readElements("EntityRef", node, scope)), From 727d57dc93f29badb41661fcb8543c9ce7840392 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 22 May 2024 16:58:51 +0900 Subject: [PATCH 018/304] Move entity existence check into `distance` from speceialized `distance` Signed-off-by: yamacir-kit --- .../syntax/relative_distance_condition.cpp | 385 +++++++----------- 1 file changed, 157 insertions(+), 228 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp index 90e9b7be341..8fd12515497 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp @@ -73,31 +73,20 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, false>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(triggering_entity).as().is_added and - global().entities->at(entity_ref).as().is_added) { - return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x); - } else { - return Double::nan(); - } + return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x); } -/** - * @note This implementation differs from the OpenSCENARIO standard. See the section "6.4. Distances" in the OpenSCENARIO User Guide. - */ template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, true>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(triggering_entity).as().is_added and - global().entities->at(entity_ref).as().is_added) { - return std::abs( - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.x); - } else { - return Double::nan(); - } + /** + @note This implementation differs from the OpenSCENARIO standard. See the + section "6.4. Distances" in the OpenSCENARIO User Guide. + */ + return std::abs( + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.x); } template <> @@ -105,35 +94,24 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, false>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(triggering_entity).as().is_added and - global().entities->at(entity_ref).as().is_added) { - return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y); - } else { - return Double::nan(); - } + return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y); } -/** - * @note This implementation differs from the OpenSCENARIO standard. See the section "6.4. Distances" in the OpenSCENARIO User Guide. - */ template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, true>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(triggering_entity).as().is_added and - global().entities->at(entity_ref).as().is_added) { - return std::abs( - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.y); - } else { - return Double::nan(); - } + /** + @note This implementation differs from the OpenSCENARIO standard. See the + section "6.4. Distances" in the OpenSCENARIO User Guide. + */ + return std::abs( + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.y); } -// @todo: after checking all the scenario work well with consider_z = true, remove this function and use std::hypot(x,y,z) -static double hypot(const double x, const double y, const double z, const bool consider_z) +// @todo: after checking all the scenario work well with consider_z = true, remove this function and use std::hypot(x, y, z) +auto hypot(double x, double y, double z, bool consider_z) { return consider_z ? std::hypot(x, y, z) : std::hypot(x, y); } @@ -143,17 +121,11 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, true>(const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(triggering_entity).as().is_added and - global().entities->at(entity_ref).as().is_added) { - return hypot( - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.x, - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.y, - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.z, - consider_z); - } else { - return Double::nan(); - } + return hypot( + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.x, + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.y, + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.z, + consider_z); } template <> @@ -161,16 +133,10 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, false>(const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(triggering_entity).as().is_added and - global().entities->at(entity_ref).as().is_added) { - return hypot( - makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x, - makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y, - makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.z, consider_z); - } else { - return Double::nan(); - } + return hypot( + makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x, + makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y, + makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.z, consider_z); } template <> @@ -178,27 +144,21 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, false>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(entity_ref).as().is_added and - global().entities->at(triggering_entity).as().is_added) { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == - longitudinal/lateral. The sign has been mainly used to determine the - front/back and left/right positional relationship (a negative value is - returned if the target entity is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's - OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this - behavior will be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref)) - .offset; - } else { - return Double::nan(); - } + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == longitudinal/lateral. + The sign has been mainly used to determine the front/back and left/right + positional relationship (a negative value is returned if the target entity + is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's OpenSCENARIO + Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this behavior will + be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref)) + .offset; } template <> @@ -206,27 +166,21 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, true>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(entity_ref).as().is_added and - global().entities->at(triggering_entity).as().is_added) { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == - longitudinal/lateral. The sign has been mainly used to determine the - front/back and left/right positional relationship (a negative value is - returned if the target entity is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's - OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this - behavior will be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) - .offset; - } else { - return Double::nan(); - } + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == longitudinal/lateral. + The sign has been mainly used to determine the front/back and left/right + positional relationship (a negative value is returned if the target entity + is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's OpenSCENARIO + Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this behavior will + be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) + .offset; } template <> @@ -234,27 +188,21 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, false>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(triggering_entity).as().is_added and - global().entities->at(entity_ref).as().is_added) { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == - longitudinal/lateral. The sign has been mainly used to determine the - front/back and left/right positional relationship (a negative value is - returned if the target entity is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's - OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this - behavior will be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref)) - .s; - } else { - return Double::nan(); - } + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == longitudinal/lateral. + The sign has been mainly used to determine the front/back and left/right + positional relationship (a negative value is returned if the target entity + is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's OpenSCENARIO + Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this behavior will + be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref)) + .s; } template <> @@ -262,27 +210,21 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, true>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(triggering_entity).as().is_added and - global().entities->at(entity_ref).as().is_added) { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == - longitudinal/lateral. The sign has been mainly used to determine the - front/back and left/right positional relationship (a negative value is - returned if the target entity is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's - OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this - behavior will be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) - .s; - } else { - return Double::nan(); - } + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == longitudinal/lateral. + The sign has been mainly used to determine the front/back and left/right + positional relationship (a negative value is returned if the target entity + is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's OpenSCENARIO + Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this behavior will + be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) + .s; } template <> @@ -290,16 +232,10 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::shortest, true>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(entity_ref).as().is_added and - global().entities->at(triggering_entity).as().is_added) { - return std::abs(static_cast( - makeNativeBoundingBoxRelativeLanePosition( - triggering_entity, entity_ref, RoutingAlgorithm::shortest)) - .offset); - } else { - return Double::nan(); - } + return std::abs(static_cast( + makeNativeBoundingBoxRelativeLanePosition( + triggering_entity, entity_ref, RoutingAlgorithm::shortest)) + .offset); } template <> @@ -307,16 +243,10 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::shortest, false>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(entity_ref).as().is_added and - global().entities->at(triggering_entity).as().is_added) { - return std::abs( - static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref, RoutingAlgorithm::shortest)) - .offset); - } else { - return Double::nan(); - } + return std::abs( + static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref, RoutingAlgorithm::shortest)) + .offset); } template <> @@ -324,16 +254,10 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::shortest, true>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(entity_ref).as().is_added and - global().entities->at(triggering_entity).as().is_added) { - return std::abs(static_cast( - makeNativeBoundingBoxRelativeLanePosition( - triggering_entity, entity_ref, RoutingAlgorithm::shortest)) - .s); - } else { - return Double::nan(); - } + return std::abs(static_cast( + makeNativeBoundingBoxRelativeLanePosition( + triggering_entity, entity_ref, RoutingAlgorithm::shortest)) + .s); } template <> @@ -341,64 +265,64 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::shortest, false>( const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(entity_ref).as().is_added and - global().entities->at(triggering_entity).as().is_added) { - return std::abs( - static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref, RoutingAlgorithm::shortest)) - .s); - } else { - return Double::nan(); - } + return std::abs( + static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref, RoutingAlgorithm::shortest)) + .s); } -#define SWITCH_COORDINATE_SYSTEM(FUNCTION, ...) \ - switch (coordinate_system) { \ - case CoordinateSystem::entity: \ - FUNCTION(__VA_ARGS__, CoordinateSystem::entity); \ - break; \ - case CoordinateSystem::lane: \ - FUNCTION(__VA_ARGS__, CoordinateSystem::lane); \ - break; \ - case CoordinateSystem::road: \ - FUNCTION(__VA_ARGS__, CoordinateSystem::road); \ - break; \ - case CoordinateSystem::trajectory: \ - FUNCTION(__VA_ARGS__, CoordinateSystem::trajectory); \ - break; \ +#define SWITCH_COORDINATE_SYSTEM(FUNCTION, ...) \ + switch (coordinate_system) { \ + case CoordinateSystem::entity: \ + FUNCTION(__VA_ARGS__, CoordinateSystem::entity); \ + break; \ + case CoordinateSystem::lane: \ + FUNCTION(__VA_ARGS__, CoordinateSystem::lane); \ + break; \ + case CoordinateSystem::road: \ + FUNCTION(__VA_ARGS__, CoordinateSystem::road); \ + break; \ + case CoordinateSystem::trajectory: \ + FUNCTION(__VA_ARGS__, CoordinateSystem::trajectory); \ + break; \ + default: \ + throw UNEXPECTED_ENUMERATION_VALUE_ASSIGNED(CoordinateSystem, coordinate_system); \ } -#define SWITCH_RELATIVE_DISTANCE_TYPE(FUNCTION, ...) \ - switch (relative_distance_type) { \ - case RelativeDistanceType::longitudinal: \ - FUNCTION(__VA_ARGS__, RelativeDistanceType::longitudinal); \ - break; \ - case RelativeDistanceType::lateral: \ - FUNCTION(__VA_ARGS__, RelativeDistanceType::lateral); \ - break; \ - case RelativeDistanceType::euclidianDistance: \ - FUNCTION(__VA_ARGS__, RelativeDistanceType::euclidianDistance); \ - break; \ +#define SWITCH_RELATIVE_DISTANCE_TYPE(FUNCTION, ...) \ + switch (relative_distance_type) { \ + case RelativeDistanceType::longitudinal: \ + FUNCTION(__VA_ARGS__, RelativeDistanceType::longitudinal); \ + break; \ + case RelativeDistanceType::lateral: \ + FUNCTION(__VA_ARGS__, RelativeDistanceType::lateral); \ + break; \ + case RelativeDistanceType::euclidianDistance: \ + FUNCTION(__VA_ARGS__, RelativeDistanceType::euclidianDistance); \ + break; \ + default: \ + throw UNEXPECTED_ENUMERATION_VALUE_ASSIGNED(RelativeDistanceType, relative_distance_type); \ } -#define SWITCH_ROUTING_ALGORITHM(FUNCTION, ...) \ - switch (routing_algorithm) { \ - case RoutingAlgorithm::assigned_route: \ - FUNCTION(__VA_ARGS__, RoutingAlgorithm::assigned_route); \ - break; \ - case RoutingAlgorithm::fastest: \ - FUNCTION(__VA_ARGS__, RoutingAlgorithm::fastest); \ - break; \ - case RoutingAlgorithm::least_intersections: \ - FUNCTION(__VA_ARGS__, RoutingAlgorithm::least_intersections); \ - break; \ - case RoutingAlgorithm::shortest: \ - FUNCTION(__VA_ARGS__, RoutingAlgorithm::shortest); \ - break; \ - case RoutingAlgorithm::undefined: \ - FUNCTION(__VA_ARGS__, RoutingAlgorithm::undefined); \ - break; \ +#define SWITCH_ROUTING_ALGORITHM(FUNCTION, ...) \ + switch (routing_algorithm) { \ + case RoutingAlgorithm::assigned_route: \ + FUNCTION(__VA_ARGS__, RoutingAlgorithm::assigned_route); \ + break; \ + case RoutingAlgorithm::fastest: \ + FUNCTION(__VA_ARGS__, RoutingAlgorithm::fastest); \ + break; \ + case RoutingAlgorithm::least_intersections: \ + FUNCTION(__VA_ARGS__, RoutingAlgorithm::least_intersections); \ + break; \ + case RoutingAlgorithm::shortest: \ + FUNCTION(__VA_ARGS__, RoutingAlgorithm::shortest); \ + break; \ + case RoutingAlgorithm::undefined: \ + FUNCTION(__VA_ARGS__, RoutingAlgorithm::undefined); \ + break; \ + default: \ + throw UNEXPECTED_ENUMERATION_VALUE_ASSIGNED(RoutingAlgorithm, routing_algorithm); \ } #define SWITCH_FREESPACE(FUNCTION, ...) \ @@ -408,9 +332,14 @@ auto RelativeDistanceCondition::distance< auto RelativeDistanceCondition::distance(const EntityRef & triggering_entity) -> double { - SWITCH_COORDINATE_SYSTEM( - SWITCH_RELATIVE_DISTANCE_TYPE, SWITCH_ROUTING_ALGORITHM, SWITCH_FREESPACE, DISTANCE); - return Double::nan(); + if ( + global().entities->at(triggering_entity).as().is_added and + global().entities->at(entity_ref).as().is_added) { + SWITCH_COORDINATE_SYSTEM( + SWITCH_RELATIVE_DISTANCE_TYPE, SWITCH_ROUTING_ALGORITHM, SWITCH_FREESPACE, DISTANCE); + } else { + return Double::nan(); + } } auto RelativeDistanceCondition::evaluate() -> Object From 86f489f036e17b86acd2a6ceea33db5039be4841 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 22 May 2024 18:58:29 +0900 Subject: [PATCH 019/304] Update `RelativeDistanceCondition::distance` to static member function Signed-off-by: yamacir-kit --- .../syntax/relative_distance_condition.hpp | 36 +++++----- .../syntax/relative_distance_condition.cpp | 72 ++++++++++--------- 2 files changed, 55 insertions(+), 53 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp index 39926681b26..846eca5f40b 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp @@ -90,8 +90,6 @@ struct RelativeDistanceCondition : private Scope, private SimulatorCore::Conditi std::vector results; // for description - const bool consider_z; - explicit RelativeDistanceCondition(const pugi::xml_node &, Scope &, const TriggeringEntities &); auto description() const -> String; @@ -99,12 +97,14 @@ struct RelativeDistanceCondition : private Scope, private SimulatorCore::Conditi template < CoordinateSystem::value_type, RelativeDistanceType::value_type, RoutingAlgorithm::value_type, Boolean::value_type> - auto distance(const EntityRef &) -> double + static auto distance(const EntityRef &, const EntityRef &) -> double { throw SyntaxError(__FILE__, ":", __LINE__); } - auto distance(const EntityRef &) -> double; + static auto distance( + const EntityRef &, const EntityRef &, const Entities &, CoordinateSystem, RelativeDistanceType, + RoutingAlgorithm, bool) -> double; auto evaluate() -> Object; }; @@ -113,20 +113,20 @@ struct RelativeDistanceCondition : private Scope, private SimulatorCore::Conditi // cspell: ignore euclidian // clang-format off -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; // clang-format on } // namespace syntax } // namespace openscenario_interpreter diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp index 8fd12515497..8740ef9761c 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp @@ -39,12 +39,7 @@ RelativeDistanceCondition::RelativeDistanceCondition( rule(readAttribute("rule", node, scope)), value(readAttribute("value", node, scope)), triggering_entities(triggering_entities), - results(triggering_entities.entity_refs.size(), Double::nan()), - consider_z([]() { - rclcpp::Node node{"get_parameter", "simulation"}; - node.declare_parameter("consider_pose_by_road_slope", false); - return node.get_parameter("consider_pose_by_road_slope").as_bool(); - }()) + results(triggering_entities.entity_refs.size(), Double::nan()) { std::set supported = { RoutingAlgorithm::value_type::shortest, RoutingAlgorithm::value_type::undefined}; @@ -71,7 +66,7 @@ auto RelativeDistanceCondition::description() const -> String template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, false>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x); } @@ -79,7 +74,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, true>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { /** @note This implementation differs from the OpenSCENARIO standard. See the @@ -92,7 +87,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, false>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y); } @@ -100,7 +95,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, true>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { /** @note This implementation differs from the OpenSCENARIO standard. See the @@ -111,38 +106,40 @@ auto RelativeDistanceCondition::distance< } // @todo: after checking all the scenario work well with consider_z = true, remove this function and use std::hypot(x, y, z) -auto hypot(double x, double y, double z, bool consider_z) +auto hypot(double x, double y, double z) { + static auto consider_z = []() { + auto node = rclcpp::Node("get_parameter", "simulation"); + node.declare_parameter("consider_pose_by_road_slope", false); + return node.get_parameter("consider_pose_by_road_slope").as_bool(); + }(); + return consider_z ? std::hypot(x, y, z) : std::hypot(x, y); } template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, - true>(const EntityRef & triggering_entity) -> double + true>(const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { - return hypot( - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.x, - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.y, - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.z, - consider_z); + const auto relative_world = + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref); + return hypot(relative_world.position.x, relative_world.position.y, relative_world.position.z); } template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, - false>(const EntityRef & triggering_entity) -> double + false>(const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { - return hypot( - makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x, - makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y, - makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.z, consider_z); + const auto relative_world = makeNativeRelativeWorldPosition(triggering_entity, entity_ref); + return hypot(relative_world.position.x, relative_world.position.y, relative_world.position.z); } template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, false>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { /* For historical reasons, signed distances are returned when @@ -164,7 +161,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, true>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { /* For historical reasons, signed distances are returned when @@ -186,7 +183,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, false>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { /* For historical reasons, signed distances are returned when @@ -208,7 +205,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, true>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { /* For historical reasons, signed distances are returned when @@ -230,7 +227,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::shortest, true>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { return std::abs(static_cast( makeNativeBoundingBoxRelativeLanePosition( @@ -241,7 +238,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::shortest, false>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { return std::abs( static_cast( @@ -252,7 +249,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::shortest, true>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { return std::abs(static_cast( makeNativeBoundingBoxRelativeLanePosition( @@ -263,7 +260,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::shortest, false>( - const EntityRef & triggering_entity) -> double + const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double { return std::abs( static_cast( @@ -328,13 +325,16 @@ auto RelativeDistanceCondition::distance< #define SWITCH_FREESPACE(FUNCTION, ...) \ return freespace ? FUNCTION(__VA_ARGS__, true) : FUNCTION(__VA_ARGS__, false) -#define DISTANCE(...) distance<__VA_ARGS__>(triggering_entity) +#define DISTANCE(...) distance<__VA_ARGS__>(triggering_entity, entity_ref) -auto RelativeDistanceCondition::distance(const EntityRef & triggering_entity) -> double +auto RelativeDistanceCondition::distance( + const EntityRef & triggering_entity, const EntityRef & entity_ref, const Entities & entities, + CoordinateSystem coordinate_system, RelativeDistanceType relative_distance_type, + RoutingAlgorithm routing_algorithm, bool freespace) -> double { if ( - global().entities->at(triggering_entity).as().is_added and - global().entities->at(entity_ref).as().is_added) { + entities.at(triggering_entity).as().is_added and + entities.at(entity_ref).as().is_added) { SWITCH_COORDINATE_SYSTEM( SWITCH_RELATIVE_DISTANCE_TYPE, SWITCH_ROUTING_ALGORITHM, SWITCH_FREESPACE, DISTANCE); } else { @@ -347,7 +347,9 @@ auto RelativeDistanceCondition::evaluate() -> Object results.clear(); return asBoolean(triggering_entities.apply([&](const auto & triggering_entity) { - results.push_back(distance(triggering_entity)); + results.push_back(distance( + triggering_entity, entity_ref, *global().entities, coordinate_system, relative_distance_type, + routing_algorithm, freespace)); return rule(static_cast(results.back()), value); })); } From a8c4ac20cddf20a173f26893c6dcdb47bf88eff5 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 17 Jul 2024 11:44:48 +0900 Subject: [PATCH 020/304] refactor: import RelativeDistanceCondition updates from feature/time-to-collision-condition branch Co-authored-by: yamacir-kit --- .../syntax/relative_distance_condition.hpp | 6 +++--- .../src/syntax/relative_distance_condition.cpp | 14 ++++++-------- 2 files changed, 9 insertions(+), 11 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp index 846eca5f40b..8dea6e12dad 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp @@ -102,9 +102,9 @@ struct RelativeDistanceCondition : private Scope, private SimulatorCore::Conditi throw SyntaxError(__FILE__, ":", __LINE__); } - static auto distance( - const EntityRef &, const EntityRef &, const Entities &, CoordinateSystem, RelativeDistanceType, - RoutingAlgorithm, bool) -> double; + static auto evaluate( + const Entities *, const EntityRef &, const EntityRef &, CoordinateSystem, RelativeDistanceType, + RoutingAlgorithm, Boolean) -> double; auto evaluate() -> Object; }; diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp index 8740ef9761c..7ba516ba580 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp @@ -327,14 +327,12 @@ auto RelativeDistanceCondition::distance< #define DISTANCE(...) distance<__VA_ARGS__>(triggering_entity, entity_ref) -auto RelativeDistanceCondition::distance( - const EntityRef & triggering_entity, const EntityRef & entity_ref, const Entities & entities, +auto RelativeDistanceCondition::evaluate( + const Entities * entities, const EntityRef & triggering_entity, const EntityRef & entity_ref, CoordinateSystem coordinate_system, RelativeDistanceType relative_distance_type, - RoutingAlgorithm routing_algorithm, bool freespace) -> double + RoutingAlgorithm routing_algorithm, Boolean freespace) -> double { - if ( - entities.at(triggering_entity).as().is_added and - entities.at(entity_ref).as().is_added) { + if (entities->isAdded(triggering_entity) and entities->isAdded(entity_ref)) { SWITCH_COORDINATE_SYSTEM( SWITCH_RELATIVE_DISTANCE_TYPE, SWITCH_ROUTING_ALGORITHM, SWITCH_FREESPACE, DISTANCE); } else { @@ -347,8 +345,8 @@ auto RelativeDistanceCondition::evaluate() -> Object results.clear(); return asBoolean(triggering_entities.apply([&](const auto & triggering_entity) { - results.push_back(distance( - triggering_entity, entity_ref, *global().entities, coordinate_system, relative_distance_type, + results.push_back(evaluate( + global().entities, triggering_entity, entity_ref, coordinate_system, relative_distance_type, routing_algorithm, freespace)); return rule(static_cast(results.back()), value); })); From 5cb4465c106002a392dacde80f95cfc2b748267c Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 22 Jul 2024 15:58:33 +0900 Subject: [PATCH 021/304] Implement HdMapUtils::countLaneChangesAlongRoute --- .../hdmap_utils/hdmap_utils.hpp | 2 ++ .../src/hdmap_utils/hdmap_utils.cpp | 25 +++++++++++++++++++ .../test/src/hdmap_utils/test_hdmap_utils.cpp | 15 +++++++++++ 3 files changed, 42 insertions(+) diff --git a/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp b/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp index 92a7e25c518..ef8f0cb5260 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp @@ -78,6 +78,8 @@ class HdMapUtils const lanelet::Id, const double s, const lanelet::Ids &, const double forward_distance = 20) const -> std::vector; + auto countLaneChangesAlongRoute(const lanelet::Ids &) const -> std::pair; + auto filterLaneletIds(const lanelet::Ids &, const char subtype[]) const -> lanelet::Ids; auto generateMarker() const -> visualization_msgs::msg::MarkerArray; diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp index c6e24e9d1ec..8ef7a545d78 100644 --- a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp +++ b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp @@ -214,6 +214,31 @@ auto HdMapUtils::canonicalizeLaneletPose( return {canonicalized, std::nullopt}; } +auto HdMapUtils::countLaneChangesAlongRoute(const lanelet::Ids & route_lanelets) const -> std::pair +{ + std::pair lane_changes{0, 0}; + for (size_t i = 1; i < route_lanelets.size(); ++i) { + const auto& previous = route_lanelets[i-1]; + const auto& current = route_lanelets[i]; + + if (auto followings = getNextLaneletIds(previous); + std::find_if(followings.begin(), + followings.end(), + [¤t](const auto& lanelet) { return lanelet == current; }) == followings.end()) { + traffic_simulator_msgs::msg::EntityType type; + type.type = traffic_simulator_msgs::msg::EntityType::VEHICLE; + if (auto lefts = getLeftLaneletIds(previous, type); + std::find_if(lefts.begin(), lefts.end(), [¤t](const auto& lanelet) { return lanelet == current; }) != lefts.end()) { + lane_changes.first++; + } else if (auto rights = getRightLaneletIds(previous, type); + std::find_if(rights.begin(), rights.end(), [¤t](const auto& lanelet) { return lanelet == current; }) != rights.end()) { + lane_changes.second++; + } + } + } + return lane_changes; +} + auto HdMapUtils::getLaneletIds() const -> lanelet::Ids { lanelet::Ids ids; diff --git a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp index 1ac7370e66e..cf9f2f53fc4 100644 --- a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp +++ b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp @@ -447,6 +447,21 @@ TEST_F(HdMapUtilsTest_StandardMap, CanonicalizeAll) EXPECT_EQ(canonicalized_lanelet_poses[0].s, non_canonicalized_lanelet_s); } +/** + * @note Testcase for countLaneChangesAlongRoute() function + */ +TEST_F(HdMapUtilsTest_FourTrackHighwayMap, CountLaneChangesAlongRoute) +{ + EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 3002175, true)), std::make_pair(1,0)); + EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 3002182, true)), std::make_pair(1,0)); + EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 199, true)), std::make_pair(1,0)); + EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 3002176, true)), std::make_pair(0,0)); + EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 200, true)), std::make_pair(0,0)); + EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 201, true)), std::make_pair(0,1)); + EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 202, true)), std::make_pair(0,2)); + EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 206, true)), std::make_pair(0,2)); +} + /** * @note Test basic functionality. * Test filtering correctness with some lanelet ids and a valid subtype name. From b27934db0020865289f494c4c346ee3990b78245 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 22 Jul 2024 16:49:36 +0900 Subject: [PATCH 022/304] Implement HdMapUtils::countLaneChanges --- .../hdmap_utils/hdmap_utils.hpp | 5 ++- .../traffic_simulator/utils/distance.hpp | 6 ++++ .../src/hdmap_utils/hdmap_utils.cpp | 32 +++++++++++++------ .../traffic_simulator/src/utils/distance.cpp | 9 ++++++ 4 files changed, 41 insertions(+), 11 deletions(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp b/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp index ef8f0cb5260..59f1c713991 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp @@ -78,7 +78,10 @@ class HdMapUtils const lanelet::Id, const double s, const lanelet::Ids &, const double forward_distance = 20) const -> std::vector; - auto countLaneChangesAlongRoute(const lanelet::Ids &) const -> std::pair; + auto countLaneChanges( + const traffic_simulator_msgs::msg::LaneletPose & from, + const traffic_simulator_msgs::msg::LaneletPose & to, bool allow_lane_change) const + -> std::optional>; auto filterLaneletIds(const lanelet::Ids &, const char subtype[]) const -> lanelet::Ids; diff --git a/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp b/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp index 3e354c32b80..f269ecdc0f9 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/utils/distance.hpp @@ -33,6 +33,12 @@ auto lateralDistance( double matching_distance, bool allow_lane_change, const std::shared_ptr & hdmap_utils_ptr) -> std::optional; +// Lateral (unit: lanes) +auto countLaneChanges( + const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to, + bool allow_lane_change, const std::shared_ptr & hdmap_utils_ptr) + -> std::optional>; + // Longitudinal auto longitudinalDistance( const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to, diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp index 8ef7a545d78..48fe67207da 100644 --- a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp +++ b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp @@ -214,29 +214,41 @@ auto HdMapUtils::canonicalizeLaneletPose( return {canonicalized, std::nullopt}; } -auto HdMapUtils::countLaneChangesAlongRoute(const lanelet::Ids & route_lanelets) const -> std::pair +auto HdMapUtils::countLaneChanges( + const traffic_simulator_msgs::msg::LaneletPose & from, + const traffic_simulator_msgs::msg::LaneletPose & to, bool allow_lane_change) const + -> std::optional> { - std::pair lane_changes{0, 0}; - for (size_t i = 1; i < route_lanelets.size(); ++i) { - const auto& previous = route_lanelets[i-1]; - const auto& current = route_lanelets[i]; + const auto route = getRoute(from.lanelet_id, to.lanelet_id, allow_lane_change); + if (route.empty()) { + return std::nullopt; + } else { + std::pair lane_changes{0, 0}; + for (size_t i = 1; i < route.size(); ++i) { + const auto & previous = route[i - 1]; + const auto & current = route[i]; if (auto followings = getNextLaneletIds(previous); - std::find_if(followings.begin(), - followings.end(), - [¤t](const auto& lanelet) { return lanelet == current; }) == followings.end()) { + std::find_if(followings.begin(), followings.end(), [¤t](const auto & lanelet) { + return lanelet == current; + }) == followings.end()) { traffic_simulator_msgs::msg::EntityType type; type.type = traffic_simulator_msgs::msg::EntityType::VEHICLE; if (auto lefts = getLeftLaneletIds(previous, type); - std::find_if(lefts.begin(), lefts.end(), [¤t](const auto& lanelet) { return lanelet == current; }) != lefts.end()) { + std::find_if(lefts.begin(), lefts.end(), [¤t](const auto & lanelet) { + return lanelet == current; + }) != lefts.end()) { lane_changes.first++; } else if (auto rights = getRightLaneletIds(previous, type); - std::find_if(rights.begin(), rights.end(), [¤t](const auto& lanelet) { return lanelet == current; }) != rights.end()) { + std::find_if(rights.begin(), rights.end(), [¤t](const auto & lanelet) { + return lanelet == current; + }) != rights.end()) { lane_changes.second++; } } } return lane_changes; + } } auto HdMapUtils::getLaneletIds() const -> lanelet::Ids diff --git a/simulation/traffic_simulator/src/utils/distance.cpp b/simulation/traffic_simulator/src/utils/distance.cpp index 307cb7cdcf5..d83391866a6 100644 --- a/simulation/traffic_simulator/src/utils/distance.cpp +++ b/simulation/traffic_simulator/src/utils/distance.cpp @@ -45,6 +45,15 @@ auto lateralDistance( } } +auto countLaneChanges( + const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to, + bool allow_lane_change, const std::shared_ptr & hdmap_utils_ptr) + -> std::optional> +{ + return hdmap_utils_ptr->countLaneChanges( + static_cast(from), static_cast(to), allow_lane_change); +} + auto longitudinalDistance( const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to, bool include_adjacent_lanelet, bool include_opposite_direction, bool allow_lane_change, From a9ae5733c62306bc98be64a4ca42b245e1874dd8 Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Mon, 22 Jul 2024 14:20:27 +0200 Subject: [PATCH 023/304] Fix an issue with an invalid namespace imu_link --- .../src/sensor_simulation/imu/imu_sensor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp index db5e2553cd9..a57cbebb7df 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp @@ -35,7 +35,7 @@ auto ImuSensor::generateMessage( auto imu_msg = sensor_msgs::msg::Imu(); imu_msg.header.stamp = current_ros_time; - imu_msg.header.frame_id = "imu_link"; + imu_msg.header.frame_id = "imu_link"; //tamagawa/ auto orientation_rpy = math::geometry::convertQuaternionToEulerAngle(status.pose.orientation); auto twist = status.action_status.twist; From a1878f3c09607b809df488e77af55cbce3b85460 Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Mon, 22 Jul 2024 14:54:49 +0200 Subject: [PATCH 024/304] Fix an issue with an invalid namespace imu_link --- .../src/sensor_simulation/imu/imu_sensor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp index a57cbebb7df..25967c51f7e 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp @@ -35,7 +35,7 @@ auto ImuSensor::generateMessage( auto imu_msg = sensor_msgs::msg::Imu(); imu_msg.header.stamp = current_ros_time; - imu_msg.header.frame_id = "imu_link"; //tamagawa/ + imu_msg.header.frame_id = "tamagawa/imu_link"; auto orientation_rpy = math::geometry::convertQuaternionToEulerAngle(status.pose.orientation); auto twist = status.action_status.twist; From f3d816bda70c4c31015a9a989ae9f56c9c4cc0a2 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 23 Jul 2024 15:48:38 +0900 Subject: [PATCH 025/304] fix tests for HdMapUtils::countLaneChanges --- .../test/src/hdmap_utils/test_hdmap_utils.cpp | 43 +++++++++++++++---- 1 file changed, 34 insertions(+), 9 deletions(-) diff --git a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp index cf9f2f53fc4..31c18a22a62 100644 --- a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp +++ b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp @@ -448,18 +448,43 @@ TEST_F(HdMapUtilsTest_StandardMap, CanonicalizeAll) } /** - * @note Testcase for countLaneChangesAlongRoute() function + * @note Testcase for countLaneChanges() function */ TEST_F(HdMapUtilsTest_FourTrackHighwayMap, CountLaneChangesAlongRoute) { - EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 3002175, true)), std::make_pair(1,0)); - EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 3002182, true)), std::make_pair(1,0)); - EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 199, true)), std::make_pair(1,0)); - EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 3002176, true)), std::make_pair(0,0)); - EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 200, true)), std::make_pair(0,0)); - EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 201, true)), std::make_pair(0,1)); - EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 202, true)), std::make_pair(0,2)); - EXPECT_EQ(hdmap_utils.countLaneChangesAlongRoute(hdmap_utils.getRoute(3002176, 206, true)), std::make_pair(0,2)); + using traffic_simulator::helper::constructLaneletPose; + EXPECT_EQ( + hdmap_utils.countLaneChanges( + constructLaneletPose(3002176, 0), constructLaneletPose(3002175, 0), true), + std::make_pair(1, 0)); + EXPECT_EQ( + hdmap_utils.countLaneChanges( + constructLaneletPose(3002176, 0), constructLaneletPose(3002182, 0), true), + std::make_pair(1, 0)); + EXPECT_EQ( + hdmap_utils.countLaneChanges( + constructLaneletPose(3002176, 0), constructLaneletPose(199, 0), true), + std::make_pair(1, 0)); + EXPECT_EQ( + hdmap_utils.countLaneChanges( + constructLaneletPose(3002176, 0), constructLaneletPose(3002176, 0), true), + std::make_pair(0, 0)); + EXPECT_EQ( + hdmap_utils.countLaneChanges( + constructLaneletPose(3002176, 0), constructLaneletPose(200, 0), true), + std::make_pair(0, 0)); + EXPECT_EQ( + hdmap_utils.countLaneChanges( + constructLaneletPose(3002176, 0), constructLaneletPose(201, 0), true), + std::make_pair(0, 1)); + EXPECT_EQ( + hdmap_utils.countLaneChanges( + constructLaneletPose(3002176, 0), constructLaneletPose(202, 0), true), + std::make_pair(0, 2)); + EXPECT_EQ( + hdmap_utils.countLaneChanges( + constructLaneletPose(3002176, 0), constructLaneletPose(206, 0), true), + std::make_pair(0, 2)); } /** From 324d7069a8ed4e0ecf06356aa9180b35ac6a5ac3 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 23 Jul 2024 15:50:02 +0900 Subject: [PATCH 026/304] Implement SimulatorCore::evaluateLateralRelativeLanes function --- .../simulator_core.hpp | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp index 2e7e89f6558..b3fcab97860 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp @@ -256,6 +256,27 @@ class SimulatorCore } return traffic_simulator::pose::quietNaNPose(); } + + static auto evaluateLateralRelativeLanes( + const std::string & from_entity_name, const std::string & to_entity_name, + const RoutingAlgorithm::value_type routing_algorithm = RoutingAlgorithm::undefined) + -> std::optional + { + if (const auto from_entity = core->getEntity(from_entity_name)) { + if (const auto to_entity = core->getEntity(to_entity_name)) { + const bool allow_lane_change = + (routing_algorithm == RoutingAlgorithm::value_type::shortest); + if ( + auto lane_changes = traffic_simulator::distance::countLaneChanges( + from_entity->getCanonicalizedLaneletPose().value(), + to_entity->getCanonicalizedLaneletPose().value(), allow_lane_change, + core->getHdmapUtils())) { + return lane_changes.value().first - lane_changes.value().second; + } + } + } + return std::nullopt; + } }; class ActionApplication // OpenSCENARIO 1.1.1 Section 3.1.5 From ab24644b369223117a212590e5e3c76a48997333 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 23 Jul 2024 15:52:35 +0900 Subject: [PATCH 027/304] Implement RelativeClearanceCondition::getRelativeLanePosition function --- .../syntax/relative_clearance_condition.hpp | 4 ++++ .../src/syntax/relative_clearance_condition.cpp | 13 +++++++++++++ 2 files changed, 17 insertions(+) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp index 1433fb11306..e0db2617c1f 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp @@ -79,6 +79,10 @@ struct RelativeClearanceCondition : private Scope, private SimulatorCore::Condit auto description() const -> String; auto evaluate() -> Object; + + [[nodiscard]] auto getRelativeLanePosition( + const EntityRef & triggering_entity, const EntityRef & entity, bool use_bounding_box) const + -> traffic_simulator::LaneletPose; }; } // namespace syntax } // namespace openscenario_interpreter diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index 32ce5986d23..e4701cb8fa5 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -54,5 +54,18 @@ auto RelativeClearanceCondition::evaluate() -> Object // TODO(HansRobo): implement return unspecified; } + +auto RelativeClearanceCondition::getRelativeLanePosition( + const EntityRef & triggering_entity, const EntityRef & entity, bool use_bounding_box) const + -> traffic_simulator::LaneletPose +{ + if (use_bounding_box) { + return static_cast(makeNativeBoundingBoxRelativeLanePosition( + triggering_entity, entity, RoutingAlgorithm::shortest)); + } else { + return static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity, RoutingAlgorithm::shortest)); + } +} } // namespace syntax } // namespace openscenario_interpreter From c61986aeca58c9c17a6b468f707b300ab18d20e8 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 23 Jul 2024 15:53:30 +0900 Subject: [PATCH 028/304] Add temporary implementation of RelativeClearanceCondition::evaluate function --- .../syntax/relative_clearance_condition.cpp | 30 +++++++++++++++++-- 1 file changed, 28 insertions(+), 2 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index e4701cb8fa5..0065fe40cc4 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -51,8 +51,34 @@ auto RelativeClearanceCondition::description() const -> String auto RelativeClearanceCondition::evaluate() -> Object { - // TODO(HansRobo): implement - return unspecified; + return asBoolean(triggering_entities.apply([&](const auto & triggering_entity) { + for (const auto & entity : entity_refs) { + auto is_in_lateral_range = [&]() { + if (relative_lane_range.empty()) { + return true; + } else { + auto relative_lateral_lane = + evaluateLateralRelativeLanes(triggering_entity, entity, RoutingAlgorithm::shortest); + return std::any_of( + relative_lane_range.begin(), relative_lane_range.end(), [&](const auto & range) { + return range.from <= relative_lateral_lane && range.to >= relative_lateral_lane; + }); + } + }; + + auto is_in_longitudinal_range = [&]() { + auto relative_lane_position = + getRelativeLanePosition(triggering_entity, entity, free_space); + if (relative_lane_position.s < 0) { + return std::abs(relative_lane_position.s) <= distance_backward; + } else { + return relative_lane_position.s <= distance_forward; + } + }; + + return is_in_lateral_range() && is_in_longitudinal_range(); + } + })); } auto RelativeClearanceCondition::getRelativeLanePosition( From 0a032632e9c447c5d4be3e46019ffb1741c1ca24 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 23 Jul 2024 15:57:33 +0900 Subject: [PATCH 029/304] Revert "Update `RelativeDistanceCondition::distance` to static member function" This reverts commit 86f489f0 --- .../syntax/relative_distance_condition.hpp | 36 +++++----- .../syntax/relative_distance_condition.cpp | 72 +++++++++---------- 2 files changed, 54 insertions(+), 54 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp index 8dea6e12dad..39926681b26 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp @@ -90,6 +90,8 @@ struct RelativeDistanceCondition : private Scope, private SimulatorCore::Conditi std::vector results; // for description + const bool consider_z; + explicit RelativeDistanceCondition(const pugi::xml_node &, Scope &, const TriggeringEntities &); auto description() const -> String; @@ -97,14 +99,12 @@ struct RelativeDistanceCondition : private Scope, private SimulatorCore::Conditi template < CoordinateSystem::value_type, RelativeDistanceType::value_type, RoutingAlgorithm::value_type, Boolean::value_type> - static auto distance(const EntityRef &, const EntityRef &) -> double + auto distance(const EntityRef &) -> double { throw SyntaxError(__FILE__, ":", __LINE__); } - static auto evaluate( - const Entities *, const EntityRef &, const EntityRef &, CoordinateSystem, RelativeDistanceType, - RoutingAlgorithm, Boolean) -> double; + auto distance(const EntityRef &) -> double; auto evaluate() -> Object; }; @@ -113,20 +113,20 @@ struct RelativeDistanceCondition : private Scope, private SimulatorCore::Conditi // cspell: ignore euclidian // clang-format off -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; -template <> auto RelativeDistanceCondition::distance(const EntityRef &, const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; +template <> auto RelativeDistanceCondition::distance(const EntityRef &) -> double; // clang-format on } // namespace syntax } // namespace openscenario_interpreter diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp index 7ba516ba580..8fd12515497 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp @@ -39,7 +39,12 @@ RelativeDistanceCondition::RelativeDistanceCondition( rule(readAttribute("rule", node, scope)), value(readAttribute("value", node, scope)), triggering_entities(triggering_entities), - results(triggering_entities.entity_refs.size(), Double::nan()) + results(triggering_entities.entity_refs.size(), Double::nan()), + consider_z([]() { + rclcpp::Node node{"get_parameter", "simulation"}; + node.declare_parameter("consider_pose_by_road_slope", false); + return node.get_parameter("consider_pose_by_road_slope").as_bool(); + }()) { std::set supported = { RoutingAlgorithm::value_type::shortest, RoutingAlgorithm::value_type::undefined}; @@ -66,7 +71,7 @@ auto RelativeDistanceCondition::description() const -> String template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, false>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x); } @@ -74,7 +79,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, true>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { /** @note This implementation differs from the OpenSCENARIO standard. See the @@ -87,7 +92,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, false>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y); } @@ -95,7 +100,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, true>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { /** @note This implementation differs from the OpenSCENARIO standard. See the @@ -106,40 +111,38 @@ auto RelativeDistanceCondition::distance< } // @todo: after checking all the scenario work well with consider_z = true, remove this function and use std::hypot(x, y, z) -auto hypot(double x, double y, double z) +auto hypot(double x, double y, double z, bool consider_z) { - static auto consider_z = []() { - auto node = rclcpp::Node("get_parameter", "simulation"); - node.declare_parameter("consider_pose_by_road_slope", false); - return node.get_parameter("consider_pose_by_road_slope").as_bool(); - }(); - return consider_z ? std::hypot(x, y, z) : std::hypot(x, y); } template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, - true>(const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + true>(const EntityRef & triggering_entity) -> double { - const auto relative_world = - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref); - return hypot(relative_world.position.x, relative_world.position.y, relative_world.position.z); + return hypot( + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.x, + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.y, + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.z, + consider_z); } template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, - false>(const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + false>(const EntityRef & triggering_entity) -> double { - const auto relative_world = makeNativeRelativeWorldPosition(triggering_entity, entity_ref); - return hypot(relative_world.position.x, relative_world.position.y, relative_world.position.z); + return hypot( + makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x, + makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y, + makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.z, consider_z); } template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, false>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { /* For historical reasons, signed distances are returned when @@ -161,7 +164,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, true>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { /* For historical reasons, signed distances are returned when @@ -183,7 +186,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, false>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { /* For historical reasons, signed distances are returned when @@ -205,7 +208,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, true>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { /* For historical reasons, signed distances are returned when @@ -227,7 +230,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::shortest, true>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { return std::abs(static_cast( makeNativeBoundingBoxRelativeLanePosition( @@ -238,7 +241,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::shortest, false>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { return std::abs( static_cast( @@ -249,7 +252,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::shortest, true>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { return std::abs(static_cast( makeNativeBoundingBoxRelativeLanePosition( @@ -260,7 +263,7 @@ auto RelativeDistanceCondition::distance< template <> auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::shortest, false>( - const EntityRef & triggering_entity, const EntityRef & entity_ref) -> double + const EntityRef & triggering_entity) -> double { return std::abs( static_cast( @@ -325,14 +328,13 @@ auto RelativeDistanceCondition::distance< #define SWITCH_FREESPACE(FUNCTION, ...) \ return freespace ? FUNCTION(__VA_ARGS__, true) : FUNCTION(__VA_ARGS__, false) -#define DISTANCE(...) distance<__VA_ARGS__>(triggering_entity, entity_ref) +#define DISTANCE(...) distance<__VA_ARGS__>(triggering_entity) -auto RelativeDistanceCondition::evaluate( - const Entities * entities, const EntityRef & triggering_entity, const EntityRef & entity_ref, - CoordinateSystem coordinate_system, RelativeDistanceType relative_distance_type, - RoutingAlgorithm routing_algorithm, Boolean freespace) -> double +auto RelativeDistanceCondition::distance(const EntityRef & triggering_entity) -> double { - if (entities->isAdded(triggering_entity) and entities->isAdded(entity_ref)) { + if ( + global().entities->at(triggering_entity).as().is_added and + global().entities->at(entity_ref).as().is_added) { SWITCH_COORDINATE_SYSTEM( SWITCH_RELATIVE_DISTANCE_TYPE, SWITCH_ROUTING_ALGORITHM, SWITCH_FREESPACE, DISTANCE); } else { @@ -345,9 +347,7 @@ auto RelativeDistanceCondition::evaluate() -> Object results.clear(); return asBoolean(triggering_entities.apply([&](const auto & triggering_entity) { - results.push_back(evaluate( - global().entities, triggering_entity, entity_ref, coordinate_system, relative_distance_type, - routing_algorithm, freespace)); + results.push_back(distance(triggering_entity)); return rule(static_cast(results.back()), value); })); } From a38fe070ec3cb7d20763282939aecbbba3159c45 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 23 Jul 2024 15:57:41 +0900 Subject: [PATCH 030/304] Revert "Move entity existence check into `distance` from speceialized `distance`" This reverts commit 727d57dc93f29badb41661fcb8543c9ce7840392. --- .../syntax/relative_distance_condition.cpp | 385 +++++++++++------- 1 file changed, 228 insertions(+), 157 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp index 8fd12515497..90e9b7be341 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_distance_condition.cpp @@ -73,20 +73,31 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, false>( const EntityRef & triggering_entity) -> double { - return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x); + if ( + global().entities->at(triggering_entity).as().is_added and + global().entities->at(entity_ref).as().is_added) { + return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x); + } else { + return Double::nan(); + } } +/** + * @note This implementation differs from the OpenSCENARIO standard. See the section "6.4. Distances" in the OpenSCENARIO User Guide. + */ template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, true>( const EntityRef & triggering_entity) -> double { - /** - @note This implementation differs from the OpenSCENARIO standard. See the - section "6.4. Distances" in the OpenSCENARIO User Guide. - */ - return std::abs( - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.x); + if ( + global().entities->at(triggering_entity).as().is_added and + global().entities->at(entity_ref).as().is_added) { + return std::abs( + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.x); + } else { + return Double::nan(); + } } template <> @@ -94,24 +105,35 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, false>( const EntityRef & triggering_entity) -> double { - return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y); + if ( + global().entities->at(triggering_entity).as().is_added and + global().entities->at(entity_ref).as().is_added) { + return std::abs(makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y); + } else { + return Double::nan(); + } } +/** + * @note This implementation differs from the OpenSCENARIO standard. See the section "6.4. Distances" in the OpenSCENARIO User Guide. + */ template <> auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, true>( const EntityRef & triggering_entity) -> double { - /** - @note This implementation differs from the OpenSCENARIO standard. See the - section "6.4. Distances" in the OpenSCENARIO User Guide. - */ - return std::abs( - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.y); + if ( + global().entities->at(triggering_entity).as().is_added and + global().entities->at(entity_ref).as().is_added) { + return std::abs( + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.y); + } else { + return Double::nan(); + } } -// @todo: after checking all the scenario work well with consider_z = true, remove this function and use std::hypot(x, y, z) -auto hypot(double x, double y, double z, bool consider_z) +// @todo: after checking all the scenario work well with consider_z = true, remove this function and use std::hypot(x,y,z) +static double hypot(const double x, const double y, const double z, const bool consider_z) { return consider_z ? std::hypot(x, y, z) : std::hypot(x, y); } @@ -121,11 +143,17 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, true>(const EntityRef & triggering_entity) -> double { - return hypot( - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.x, - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.y, - makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.z, - consider_z); + if ( + global().entities->at(triggering_entity).as().is_added and + global().entities->at(entity_ref).as().is_added) { + return hypot( + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.x, + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.y, + makeNativeBoundingBoxRelativeWorldPosition(triggering_entity, entity_ref).position.z, + consider_z); + } else { + return Double::nan(); + } } template <> @@ -133,10 +161,16 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, false>(const EntityRef & triggering_entity) -> double { - return hypot( - makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x, - makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y, - makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.z, consider_z); + if ( + global().entities->at(triggering_entity).as().is_added and + global().entities->at(entity_ref).as().is_added) { + return hypot( + makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.x, + makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.y, + makeNativeRelativeWorldPosition(triggering_entity, entity_ref).position.z, consider_z); + } else { + return Double::nan(); + } } template <> @@ -144,21 +178,27 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, false>( const EntityRef & triggering_entity) -> double { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == longitudinal/lateral. - The sign has been mainly used to determine the front/back and left/right - positional relationship (a negative value is returned if the target entity - is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's OpenSCENARIO - Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this behavior will - be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref)) - .offset; + if ( + global().entities->at(entity_ref).as().is_added and + global().entities->at(triggering_entity).as().is_added) { + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == + longitudinal/lateral. The sign has been mainly used to determine the + front/back and left/right positional relationship (a negative value is + returned if the target entity is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's + OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this + behavior will be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref)) + .offset; + } else { + return Double::nan(); + } } template <> @@ -166,21 +206,27 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::undefined, true>( const EntityRef & triggering_entity) -> double { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == longitudinal/lateral. - The sign has been mainly used to determine the front/back and left/right - positional relationship (a negative value is returned if the target entity - is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's OpenSCENARIO - Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this behavior will - be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) - .offset; + if ( + global().entities->at(entity_ref).as().is_added and + global().entities->at(triggering_entity).as().is_added) { + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == + longitudinal/lateral. The sign has been mainly used to determine the + front/back and left/right positional relationship (a negative value is + returned if the target entity is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's + OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this + behavior will be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) + .offset; + } else { + return Double::nan(); + } } template <> @@ -188,21 +234,27 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, false>( const EntityRef & triggering_entity) -> double { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == longitudinal/lateral. - The sign has been mainly used to determine the front/back and left/right - positional relationship (a negative value is returned if the target entity - is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's OpenSCENARIO - Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this behavior will - be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref)) - .s; + if ( + global().entities->at(triggering_entity).as().is_added and + global().entities->at(entity_ref).as().is_added) { + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == + longitudinal/lateral. The sign has been mainly used to determine the + front/back and left/right positional relationship (a negative value is + returned if the target entity is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's + OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this + behavior will be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref)) + .s; + } else { + return Double::nan(); + } } template <> @@ -210,21 +262,27 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::undefined, true>( const EntityRef & triggering_entity) -> double { - /* - For historical reasons, signed distances are returned when - coordinateSystem == lane and relativeDistanceType == longitudinal/lateral. - The sign has been mainly used to determine the front/back and left/right - positional relationship (a negative value is returned if the target entity - is behind or to the right). - - This behavior violates the OpenSCENARIO standard. In the future, after - DistanceCondition and RelativeDistanceCondition of TIER IV's OpenSCENARIO - Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this behavior will - be enabled only when routingAlgorithm == undefined. - */ - return static_cast( - makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) - .s; + if ( + global().entities->at(triggering_entity).as().is_added and + global().entities->at(entity_ref).as().is_added) { + /* + For historical reasons, signed distances are returned when + coordinateSystem == lane and relativeDistanceType == + longitudinal/lateral. The sign has been mainly used to determine the + front/back and left/right positional relationship (a negative value is + returned if the target entity is behind or to the right). + + This behavior violates the OpenSCENARIO standard. In the future, after + DistanceCondition and RelativeDistanceCondition of TIER IV's + OpenSCENARIO Interpreter support OpenSCENARIO 1.2 RoutingAlgorithm, this + behavior will be enabled only when routingAlgorithm == undefined. + */ + return static_cast( + makeNativeBoundingBoxRelativeLanePosition(triggering_entity, entity_ref)) + .s; + } else { + return Double::nan(); + } } template <> @@ -232,10 +290,16 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::shortest, true>( const EntityRef & triggering_entity) -> double { - return std::abs(static_cast( - makeNativeBoundingBoxRelativeLanePosition( - triggering_entity, entity_ref, RoutingAlgorithm::shortest)) - .offset); + if ( + global().entities->at(entity_ref).as().is_added and + global().entities->at(triggering_entity).as().is_added) { + return std::abs(static_cast( + makeNativeBoundingBoxRelativeLanePosition( + triggering_entity, entity_ref, RoutingAlgorithm::shortest)) + .offset); + } else { + return Double::nan(); + } } template <> @@ -243,10 +307,16 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::lateral, RoutingAlgorithm::shortest, false>( const EntityRef & triggering_entity) -> double { - return std::abs( - static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref, RoutingAlgorithm::shortest)) - .offset); + if ( + global().entities->at(entity_ref).as().is_added and + global().entities->at(triggering_entity).as().is_added) { + return std::abs( + static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref, RoutingAlgorithm::shortest)) + .offset); + } else { + return Double::nan(); + } } template <> @@ -254,10 +324,16 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::shortest, true>( const EntityRef & triggering_entity) -> double { - return std::abs(static_cast( - makeNativeBoundingBoxRelativeLanePosition( - triggering_entity, entity_ref, RoutingAlgorithm::shortest)) - .s); + if ( + global().entities->at(entity_ref).as().is_added and + global().entities->at(triggering_entity).as().is_added) { + return std::abs(static_cast( + makeNativeBoundingBoxRelativeLanePosition( + triggering_entity, entity_ref, RoutingAlgorithm::shortest)) + .s); + } else { + return Double::nan(); + } } template <> @@ -265,64 +341,64 @@ auto RelativeDistanceCondition::distance< CoordinateSystem::lane, RelativeDistanceType::longitudinal, RoutingAlgorithm::shortest, false>( const EntityRef & triggering_entity) -> double { - return std::abs( - static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity_ref, RoutingAlgorithm::shortest)) - .s); + if ( + global().entities->at(entity_ref).as().is_added and + global().entities->at(triggering_entity).as().is_added) { + return std::abs( + static_cast( + makeNativeRelativeLanePosition(triggering_entity, entity_ref, RoutingAlgorithm::shortest)) + .s); + } else { + return Double::nan(); + } } -#define SWITCH_COORDINATE_SYSTEM(FUNCTION, ...) \ - switch (coordinate_system) { \ - case CoordinateSystem::entity: \ - FUNCTION(__VA_ARGS__, CoordinateSystem::entity); \ - break; \ - case CoordinateSystem::lane: \ - FUNCTION(__VA_ARGS__, CoordinateSystem::lane); \ - break; \ - case CoordinateSystem::road: \ - FUNCTION(__VA_ARGS__, CoordinateSystem::road); \ - break; \ - case CoordinateSystem::trajectory: \ - FUNCTION(__VA_ARGS__, CoordinateSystem::trajectory); \ - break; \ - default: \ - throw UNEXPECTED_ENUMERATION_VALUE_ASSIGNED(CoordinateSystem, coordinate_system); \ +#define SWITCH_COORDINATE_SYSTEM(FUNCTION, ...) \ + switch (coordinate_system) { \ + case CoordinateSystem::entity: \ + FUNCTION(__VA_ARGS__, CoordinateSystem::entity); \ + break; \ + case CoordinateSystem::lane: \ + FUNCTION(__VA_ARGS__, CoordinateSystem::lane); \ + break; \ + case CoordinateSystem::road: \ + FUNCTION(__VA_ARGS__, CoordinateSystem::road); \ + break; \ + case CoordinateSystem::trajectory: \ + FUNCTION(__VA_ARGS__, CoordinateSystem::trajectory); \ + break; \ } -#define SWITCH_RELATIVE_DISTANCE_TYPE(FUNCTION, ...) \ - switch (relative_distance_type) { \ - case RelativeDistanceType::longitudinal: \ - FUNCTION(__VA_ARGS__, RelativeDistanceType::longitudinal); \ - break; \ - case RelativeDistanceType::lateral: \ - FUNCTION(__VA_ARGS__, RelativeDistanceType::lateral); \ - break; \ - case RelativeDistanceType::euclidianDistance: \ - FUNCTION(__VA_ARGS__, RelativeDistanceType::euclidianDistance); \ - break; \ - default: \ - throw UNEXPECTED_ENUMERATION_VALUE_ASSIGNED(RelativeDistanceType, relative_distance_type); \ +#define SWITCH_RELATIVE_DISTANCE_TYPE(FUNCTION, ...) \ + switch (relative_distance_type) { \ + case RelativeDistanceType::longitudinal: \ + FUNCTION(__VA_ARGS__, RelativeDistanceType::longitudinal); \ + break; \ + case RelativeDistanceType::lateral: \ + FUNCTION(__VA_ARGS__, RelativeDistanceType::lateral); \ + break; \ + case RelativeDistanceType::euclidianDistance: \ + FUNCTION(__VA_ARGS__, RelativeDistanceType::euclidianDistance); \ + break; \ } -#define SWITCH_ROUTING_ALGORITHM(FUNCTION, ...) \ - switch (routing_algorithm) { \ - case RoutingAlgorithm::assigned_route: \ - FUNCTION(__VA_ARGS__, RoutingAlgorithm::assigned_route); \ - break; \ - case RoutingAlgorithm::fastest: \ - FUNCTION(__VA_ARGS__, RoutingAlgorithm::fastest); \ - break; \ - case RoutingAlgorithm::least_intersections: \ - FUNCTION(__VA_ARGS__, RoutingAlgorithm::least_intersections); \ - break; \ - case RoutingAlgorithm::shortest: \ - FUNCTION(__VA_ARGS__, RoutingAlgorithm::shortest); \ - break; \ - case RoutingAlgorithm::undefined: \ - FUNCTION(__VA_ARGS__, RoutingAlgorithm::undefined); \ - break; \ - default: \ - throw UNEXPECTED_ENUMERATION_VALUE_ASSIGNED(RoutingAlgorithm, routing_algorithm); \ +#define SWITCH_ROUTING_ALGORITHM(FUNCTION, ...) \ + switch (routing_algorithm) { \ + case RoutingAlgorithm::assigned_route: \ + FUNCTION(__VA_ARGS__, RoutingAlgorithm::assigned_route); \ + break; \ + case RoutingAlgorithm::fastest: \ + FUNCTION(__VA_ARGS__, RoutingAlgorithm::fastest); \ + break; \ + case RoutingAlgorithm::least_intersections: \ + FUNCTION(__VA_ARGS__, RoutingAlgorithm::least_intersections); \ + break; \ + case RoutingAlgorithm::shortest: \ + FUNCTION(__VA_ARGS__, RoutingAlgorithm::shortest); \ + break; \ + case RoutingAlgorithm::undefined: \ + FUNCTION(__VA_ARGS__, RoutingAlgorithm::undefined); \ + break; \ } #define SWITCH_FREESPACE(FUNCTION, ...) \ @@ -332,14 +408,9 @@ auto RelativeDistanceCondition::distance< auto RelativeDistanceCondition::distance(const EntityRef & triggering_entity) -> double { - if ( - global().entities->at(triggering_entity).as().is_added and - global().entities->at(entity_ref).as().is_added) { - SWITCH_COORDINATE_SYSTEM( - SWITCH_RELATIVE_DISTANCE_TYPE, SWITCH_ROUTING_ALGORITHM, SWITCH_FREESPACE, DISTANCE); - } else { - return Double::nan(); - } + SWITCH_COORDINATE_SYSTEM( + SWITCH_RELATIVE_DISTANCE_TYPE, SWITCH_ROUTING_ALGORITHM, SWITCH_FREESPACE, DISTANCE); + return Double::nan(); } auto RelativeDistanceCondition::evaluate() -> Object From 566086f4e4c04014c77e34c991ec4359b87740ce Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 23 Jul 2024 16:21:57 +0900 Subject: [PATCH 031/304] Update ControllerAction to support some new properties related to LiDAR Signed-off-by: yamacir-kit --- .../simulator_core.hpp | 30 +++++++++++++++++-- 1 file changed, 28 insertions(+), 2 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp index 2e7e89f6558..5859eae43b2 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp @@ -334,8 +334,34 @@ class SimulatorCore }()); if (controller.isAutoware()) { - core->attachLidarSensor( - entity_ref, controller.properties.template get("pointcloudPublishingDelay")); + core->attachLidarSensor([&]() { + simulation_api_schema::LidarConfiguration configuration; + + auto degree_to_radian = [](auto degree) constexpr { + return degree / 180.0 * boost::math::constants::pi(); + }; + + // clang-format off + configuration.set_architecture_type(core->getROS2Parameter("architecture_type", "awf/universe")); + configuration.set_entity(entity_ref); + configuration.set_horizontal_resolution(degree_to_radian(controller.properties.template get("pointcloudHorizontalResolution", 1.0))); + configuration.set_lidar_sensor_delay(controller.properties.template get("pointcloudPublishingDelay")); + configuration.set_scan_duration(0.1); + // clang-format on + + const auto vertical_field_of_view = degree_to_radian( + controller.properties.template get("pointcloudVerticalFieldOfView", 30.0)); + + const auto channels = + controller.properties.template get("pointcloudChannels", 16); + + for (std::size_t i = 0; i < channels; ++i) { + configuration.add_vertical_angles( + vertical_field_of_view / 2 - vertical_field_of_view / channels * i); + } + + return configuration; + }()); core->attachDetectionSensor([&]() { simulation_api_schema::DetectionSensorConfiguration configuration; From 28af722ef74928aa4ff43458ec1b69b93a3b817d Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 23 Jul 2024 16:25:41 +0900 Subject: [PATCH 032/304] Update `MiscObjectEntity` to display with a magenta bounding box Signed-off-by: yamacir-kit --- .../visualization/visualization_component.cpp | 26 ++++++++++--------- 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/simulation/traffic_simulator/src/visualization/visualization_component.cpp b/simulation/traffic_simulator/src/visualization/visualization_component.cpp index 6cea709f9d8..f1510972d8e 100644 --- a/simulation/traffic_simulator/src/visualization/visualization_component.cpp +++ b/simulation/traffic_simulator/src/visualization/visualization_component.cpp @@ -124,18 +124,20 @@ const visualization_msgs::msg::MarkerArray VisualizationComponent::generateMarke constexpr auto default_quaternion = rosidl_runtime_cpp::MessageInitialization::DEFAULTS_ONLY; auto ret = visualization_msgs::msg::MarkerArray(); auto stamp = get_clock()->now(); - std_msgs::msg::ColorRGBA color; - switch (status.type.type) { - case status.type.EGO: - color = color_names::makeColorMsg("limegreen", 0.99); - break; - case status.type.PEDESTRIAN: - color = color_names::makeColorMsg("orange", 0.99); - break; - case status.type.VEHICLE: - color = color_names::makeColorMsg("lightskyblue", 0.99); - break; - } + + const auto color = [&]() { + switch (status.type.type) { + case status.type.EGO: + return color_names::makeColorMsg("limegreen", 0.99); + case status.type.PEDESTRIAN: + return color_names::makeColorMsg("orange", 0.99); + case status.type.VEHICLE: + return color_names::makeColorMsg("lightskyblue", 0.99); + default: + case status.type.MISC_OBJECT: + return color_names::makeColorMsg("magenta", 0.99); + } + }(); if (goal_pose.size() != 0) { goal_pose_max_size = std::max(goal_pose_max_size, int(goal_pose.size())); From ea2fdbe045921943ddc9b0f6db477797a55b72b8 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 23 Jul 2024 19:21:21 +0900 Subject: [PATCH 033/304] Correct initialization of RelativeClearanceCondition::entity_refs along the standard --- .../src/syntax/relative_clearance_condition.cpp | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index 0065fe40cc4..6a7c556aa11 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -14,6 +14,7 @@ #include #include +#include #include #include #include @@ -30,7 +31,15 @@ RelativeClearanceCondition::RelativeClearanceCondition( free_space(readAttribute("freeSpace", node, scope)), opposite_lanes(readAttribute("oppositeLanes", node, scope)), relative_lane_range(readElements("RelativeLaneRange", node, scope)), - entity_refs(readElements("EntityRef", node, scope)), + entity_refs([&]() { + auto entities = readElements("EntityRef", node, scope); + if (entities.empty()) { + for (const auto & [name, entity] : *global().entities) { + entities.emplace_back(name); + } + } + return entities; + }()), triggering_entities(triggering_entities) { } From 5d82b784a157eb3f4641a021e211494cddf005af Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 24 Jul 2024 14:56:22 +0900 Subject: [PATCH 034/304] Add a test scenario for `ObjectController`'s pseudo LiDAR property Signed-off-by: yamacir-kit --- .../simulator_core.hpp | 2 +- ...roperty.pointcloudVerticalFieldOfView.yaml | 259 ++++++++++++++++++ 2 files changed, 260 insertions(+), 1 deletion(-) create mode 100644 test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp index 5859eae43b2..2b0f5081336 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp @@ -337,7 +337,7 @@ class SimulatorCore core->attachLidarSensor([&]() { simulation_api_schema::LidarConfiguration configuration; - auto degree_to_radian = [](auto degree) constexpr { + auto degree_to_radian = [](auto degree) { return degree / 180.0 * boost::math::constants::pi(); }; diff --git a/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml b/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml new file mode 100644 index 00000000000..ffadea00e1a --- /dev/null +++ b/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml @@ -0,0 +1,259 @@ +OpenSCENARIO: + FileHeader: + author: 'Tatsuya Yamasaki' + date: '2022-03-04T18:06:53+09:00' + description: 'Sample scenario (with Autoware)' + revMajor: 1 + revMinor: 0 + ParameterDeclarations: + ParameterDeclaration: [] + CatalogLocations: + VehicleCatalog: + Directory: + path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle + RoadNetwork: + LogicFile: + filepath: $(ros2 pkg prefix --share kashiwanoha_map)/map + Entities: + ScenarioObject: + - name: ego + CatalogReference: + catalogName: sample_vehicle + entryName: sample_vehicle + ObjectController: + Controller: + name: 'Autoware' + Properties: + Property: + - name: maxJerk + value: "1.5" + - name: minJerk + value: "-1.5" + - name: pointcloudChannels + value: '67' + - name: pointcloudHorizontalResolution + value: '1.5' + - name: pointcloudVerticalFieldOfView + value: '45.678' + - name: boundary + MiscObject: &BARRICADE + mass: 1.0 + miscObjectCategory: obstacle + name: '' + BoundingBox: + Center: + x: 0 + y: 0 + z: 0 + Dimensions: + width: 100 + length: 100 + height: 100 + Properties: + Property: [] + - name: barricade + MiscObject: + mass: 1.0 + miscObjectCategory: obstacle + name: '' + BoundingBox: + Center: + x: 0 + y: 0 + z: 0 + Dimensions: + width: 10 + length: 1 + height: 10 + Properties: + Property: [] + Storyboard: + Init: + Actions: + Private: + - entityRef: ego + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 10 + offset: 0 + Orientation: &ORIENTATION_ZERO + type: relative + h: 0 + p: 0 + r: 0 + - RoutingAction: + AcquirePositionAction: + Position: + LanePosition: + roadId: '' + laneId: '34507' + s: 50 + offset: 0 + Orientation: *ORIENTATION_ZERO + - entityRef: boundary + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 10 + offset: 0 + Orientation: *ORIENTATION_ZERO + - entityRef: barricade + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 20 + offset: 0 + Orientation: *ORIENTATION_ZERO + Story: + - name: '' + Act: + - name: remove_barricade + ManeuverGroup: + - maximumExecutionCount: 1 + name: '' + Actors: + selectTriggeringEntities: false + EntityRef: + - entityRef: barricade + Maneuver: + - name: '' + Event: + - name: '' + priority: parallel + maximumExecutionCount: 1 + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: barricade + EntityCondition: + StandStillCondition: + duration: 90 + Action: + - name: '' + GlobalAction: + EntityAction: + entityRef: barricade + DeleteEntityAction: + StartTrigger: + ConditionGroup: + - Condition: + - name: + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 0 + rule: greaterThan + - name: _EndCondition + ManeuverGroup: + - maximumExecutionCount: 1 + name: '' + Actors: + selectTriggeringEntities: false + EntityRef: + - entityRef: ego + Maneuver: + - name: '' + Event: + - name: '' + priority: parallel + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: ego + EntityCondition: + ReachPositionCondition: + Position: + LanePosition: + roadId: '' + laneId: '34507' + s: 50 + offset: 0 + Orientation: + type: relative + h: 0 + p: 0 + r: 0 + tolerance: 0.5 + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: RelativeHeadingCondition(ego, 34507, 50) + rule: lessThan + value: 0.1 + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: RelativeHeadingCondition(ego) + rule: lessThan + value: 0.1 + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: ego.currentMinimumRiskManeuverState.state + rule: equalTo + value: NORMAL + Action: + - name: '' + UserDefinedAction: + CustomCommandAction: + type: exitSuccess + - name: '' + priority: parallel + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 180 + rule: greaterThan + Action: + - name: '' + UserDefinedAction: + CustomCommandAction: + type: exitFailure + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 0 + rule: greaterThan + StopTrigger: + ConditionGroup: [] From 487556437b448186e2de484f5130eb2b1d015e74 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 24 Jul 2024 15:03:19 +0900 Subject: [PATCH 035/304] Add descriptions of pseudo LiDAR settings to ConfiguringPerceptionTopics Signed-off-by: yamacir-kit --- .../ConfiguringPerceptionTopics.md | 123 +++++++++++++++++- 1 file changed, 117 insertions(+), 6 deletions(-) diff --git a/docs/developer_guide/ConfiguringPerceptionTopics.md b/docs/developer_guide/ConfiguringPerceptionTopics.md index 22495fd1f5b..5954258932b 100644 --- a/docs/developer_guide/ConfiguringPerceptionTopics.md +++ b/docs/developer_guide/ConfiguringPerceptionTopics.md @@ -24,13 +24,16 @@ where `` and `` can be set to: | Name | Value | Default | Description | |--------------------------------------------|-----------------------------------------------|:-------:|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| `detectedObjectMissingProbability` | A `double` type value between `0.0` and `1.0` | `0.0` | Do not publish the perception topic with the given probability. | -| `detectedObjectPositionStandardDeviation` | A positive `double` type value | `0.0` | Randomize the positions of other vehicles included in the perception topic according to the given standard deviation. | -| `detectedObjectPublishingDelay` | A positive `double` type value | `0.0` | Delays the publication of the perception topic by the specified number of seconds. | -| `detectedObjectGroundTruthPublishingDelay` | A positive `double` type value | `0.0` | Delays the publication of the perception ground truth topic by the specified number of seconds. | +| `detectedObjectMissingProbability` | A `double` type value between `0.0` and `1.0` | `0.0` | Do not publish the perception topic with the given probability. | +| `detectedObjectPositionStandardDeviation` | A positive `double` type value | `0.0` | Randomize the positions of other vehicles included in the perception topic according to the given standard deviation. | +| `detectedObjectPublishingDelay` | A positive `double` type value | `0.0` | Delays the publication of the perception topic by the specified number of seconds. | +| `detectedObjectGroundTruthPublishingDelay` | A positive `double` type value | `0.0` | Delays the publication of the perception ground truth topic by the specified number of seconds. | | `detectionSensorRange` | A positive `double` type value | `300.0` | Specifies the sensor detection range for detected object. | | `isClairvoyant` | A `boolean` type value | `false` | Specifies whether the detected object is a Clairvoyant. If this parameter is not defined explicitly, the property of `detectionSensorRange` is not reflected and only detected object detected by lidar is published. | -| `randomSeed` | A positive `integer` type value | `0` | Specifies the seed value for the random number generator. | +| `pointcloudChannels` | A positive `integer` type value | `16` | Number of channels of pseudo LiDAR inside the simulator used to generate pointclouds. | +| `pointcloudHorizontalResolution` | A positive `double` type value | `1.0` | Horizontal angular resolution of the pseudo LiDAR inside the simulator used to generate the pointcloud. | +| `pointcloudVerticalFieldOfView` | A positive `double` type value | `30.0` | Vertical field of view of the pseudo LiDAR inside the simulator used to generate the pointcloud. | +| `randomSeed` | A positive `integer` type value | `0` | Specifies the seed value for the random number generator. | These properties are not exclusive. In other words, multiple properties can be specified at the same time. However, these properties only take effect for @@ -161,7 +164,7 @@ this problem by setting an interval of the specified number of seconds between `scenario_simulator_v2` generating a perception result and publishing it. **Specification** - The property's value must be a positive real number. The -unit is seconds. It is an error if the value is negative.　Since the delay is +unit is seconds. It is an error if the value is negative. Since the delay is set to the same value for each topic, it is not possible to delay only a specific topic. @@ -230,6 +233,114 @@ it reaches the receiver node. value: "3" ``` +## Property `pointcloudChannels` + +**Summary** - Number of channels of pseudo LiDAR inside the simulator used to +generate pointclouds. + +**Purpose** - The `simple_sensor_simulator` simulates a simple LiDAR, such as a +horizontally rotating vertically aligned laser, typical of the VLP-16, to +generate a pointcloud. The default settings produce a pointcloud that exactly +mimics the sensing results from the VLP-16. However, VLP-16 is a relatively low +pointcloud density LiDAR used with Autoware, so if a higher pointcloud density +LiDAR is to be installed, it will be necessary to simulate a scenario with a +higher pointcloud density to match the actual vehicle. This property addresses +this issue by providing a means to specify the number of pseudo LiDAR channels. + +**Specification** - The property value must be a real number greater than or +equal to 1. Zero or negative values are errors. The upper limit of values is +the maximum value of a 64-bit unsigned integer, but computer performance +effectively limits the value to much lower values. + +**Guarantee** - The `simple_sensor_simulator` does not simulate a realistic +LiDAR. For example, in the case of a LiDAR with a mechanically rotating laser +structure, the resulting point cloud will be distorted when moving at high +speeds, but `simple_sensor_simulator` cannot simulate such behavior and +produces an undistorted pointcloud. + +**Default behavior** - If the property is not specified, the default value is +`"16"`. When the properties `pointcloudChannels` and +`pointcloudVerticalFieldOfView` are both at their default values, the behavior +mimics Velodyne VLP-16. + +**[Example](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml)** - +``` + ObjectController: + Controller: + name: '...' + Properties: + Property: + - name: 'isEgo' + value: 'true' + - name: 'pointcloudChannels' + value: '128' +``` + +## Property `pointcloudHorizontalResolution` + +**Summary** - Horizontal angular resolution of the pseudo LiDAR inside the +simulator used to generate the pointcloud. + +**Purpose** - To address the same issues as the property `pointcloudChannels`, +this property provides a means to specify the angular resolution of the pseudo +LiDAR. + +**Specification** - The property value must be a real number greater than zero. +The unit is degrees. If the value is zero or negative, it is an error. + +**Guarantee** - Same as one for `pointcloudChannels` + +**Default behavior** - If the property is not specified, the default value is +`"1.0"`. + +**[Example](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml)** - +``` + ObjectController: + Controller: + name: '...' + Properties: + Property: + - name: 'isEgo' + value: 'true' + - name: 'pointcloudHorizontalResolution' + value: '1.5' +``` + +## Property `pointcloudVerticalFieldOfView` + +**Summary** - Vertical field of view of the pseudo LiDAR inside the simulator +used to generate the pointcloud. + +**Purpose** - To address the same issues as the property `pointcloudChannels`, +this property provides a means to specify the vertical field of view of the +pseudo LiDAR. + +**Specification** - The property value must be a real number greater than zero. +The unit is degrees. A value of zero or negative is an error. The specified +angle is assigned equally up and down to the horizontal plane as viewed from +the pseudo LiDAR. For example, if the value `30.0` is specified, the vertical +field of view is +15° to -15°. + +**Guarantee** - Same as one for `pointcloudChannels` + +**Default behavior** - If the property is not specified, the default value is +`"30.0"`. When the properties `pointcloudChannels` and +`pointcloudVerticalFieldOfView` are both at their default values, the behavior +mimics Velodyne VLP-16. + +**[Example](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml)** - +``` + ObjectController: + Controller: + name: '...' + Properties: + Property: + - name: 'isEgo' + value: 'true' + - name: 'pointcloudVerticalFieldOfView' + value: '45.678' +``` + ## Property `randomSeed` **Summary** - Specifies the seed value for the random number generator. From 6f034591b527b680c21831337745e2463aacc261 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 24 Jul 2024 15:22:51 +0900 Subject: [PATCH 036/304] Update links to files on GitHub to permalinks Signed-off-by: yamacir-kit --- docs/developer_guide/ConfiguringPerceptionTopics.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/developer_guide/ConfiguringPerceptionTopics.md b/docs/developer_guide/ConfiguringPerceptionTopics.md index 5954258932b..8708cd8e5fe 100644 --- a/docs/developer_guide/ConfiguringPerceptionTopics.md +++ b/docs/developer_guide/ConfiguringPerceptionTopics.md @@ -263,7 +263,7 @@ produces an undistorted pointcloud. `pointcloudVerticalFieldOfView` are both at their default values, the behavior mimics Velodyne VLP-16. -**[Example](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml)** - +**[Example](https://github.com/tier4/scenario_simulator_v2/blob/487556437b448186e2de484f5130eb2b1d015e74/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml)** - ``` ObjectController: Controller: @@ -293,7 +293,7 @@ The unit is degrees. If the value is zero or negative, it is an error. **Default behavior** - If the property is not specified, the default value is `"1.0"`. -**[Example](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml)** - +**[Example](https://github.com/tier4/scenario_simulator_v2/blob/487556437b448186e2de484f5130eb2b1d015e74/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml)** - ``` ObjectController: Controller: @@ -328,7 +328,7 @@ field of view is +15° to -15°. `pointcloudVerticalFieldOfView` are both at their default values, the behavior mimics Velodyne VLP-16. -**[Example](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml)** - +**[Example](https://github.com/tier4/scenario_simulator_v2/blob/487556437b448186e2de484f5130eb2b1d015e74/test_runner/scenario_test_runner/scenario/Property.pointcloudVerticalFieldOfView.yaml)** - ``` ObjectController: Controller: From 768f012fad66c6717d814b17ec4e769323fe7efe Mon Sep 17 00:00:00 2001 From: koki suzuki Date: Wed, 24 Jul 2024 15:25:40 +0900 Subject: [PATCH 037/304] chore: Update Longitudinal_control.md with additional details for requestSpeedChange API --- docs/developer_guide/Longitudinal_control.md | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/docs/developer_guide/Longitudinal_control.md b/docs/developer_guide/Longitudinal_control.md index 052d1067486..1e5deb617d2 100644 --- a/docs/developer_guide/Longitudinal_control.md +++ b/docs/developer_guide/Longitudinal_control.md @@ -20,12 +20,18 @@ traffic_simulator has various ways to control the longitudinal behavior of the n ## Details ### requestSpeedChange By using `API::requestSpeedChange`, you can change the speed of the npc. +MiscObjectEntity can not be controlled by this API. | Value | Type | Description | | ------------ | ------ | ----------------------------------------------------------- | | name | string | Name of the npc. | | target_speed | double | Target speed of the npc. | | continuous | bool | If true the npc will keep the speed until the next command. | +#### EgoEntity +`target_speed` will be set to the target speed of the EgoEntity only before the scenario starts. + +#### Other entity +The function will append the job to change the target_speed of the npc to the job queue. If `continuous` is set to `false`, the job will be deleted after the velocity has reached the target speed. If set to `true`, the npc will keep the speed until the next longitudinal control command. | Value | Type | Description | | ------------ | ------------------------ | ----------------------------------------------------------- | @@ -34,6 +40,10 @@ By using `API::requestSpeedChange`, you can change the speed of the npc. | transition | speed_change::Transition | Transition type. | | constraint | speed_change::Constraint | Constraint type. | | continuous | bool | If true the npc will keep the speed until the next command. | +#### EgoEntity +`target_speed` will be set to the target speed of the EgoEntity only before the scenario starts. + +#### Other entity | Value | Type | Description | | ------------ | --------------------------------- | ----------------------------------------------------------- | From a08cce8ba2759c5ee6422387aaa23f19cf8408f2 Mon Sep 17 00:00:00 2001 From: koki suzuki Date: Wed, 24 Jul 2024 16:15:53 +0900 Subject: [PATCH 038/304] chore: Update Longitudinal_control.md with additional details for requestSpeedChange API --- docs/developer_guide/Longitudinal_control.md | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/docs/developer_guide/Longitudinal_control.md b/docs/developer_guide/Longitudinal_control.md index 1e5deb617d2..b51be59f9ee 100644 --- a/docs/developer_guide/Longitudinal_control.md +++ b/docs/developer_guide/Longitudinal_control.md @@ -31,7 +31,7 @@ MiscObjectEntity can not be controlled by this API. `target_speed` will be set to the target speed of the EgoEntity only before the scenario starts. #### Other entity -The function will append the job to change the target_speed of the npc to the job queue. If `continuous` is set to `false`, the job will be deleted after the velocity has reached the target speed. If set to `true`, the npc will keep the speed until the next longitudinal control command. +The function will append the job to change the target_speed of the npc to the job queue. If `continuous` is set to `false`, the job will be deleted after the velocity has reached the target speed. If set to `true`, the npc will keep the speed until the next longitudinal control command. It will accelerate on maximum acceleration rate set previously. | Value | Type | Description | | ------------ | ------------------------ | ----------------------------------------------------------- | @@ -44,6 +44,13 @@ The function will append the job to change the target_speed of the npc to the jo `target_speed` will be set to the target speed of the EgoEntity only before the scenario starts. #### Other entity +The function will append the job to change the target_speed of the npc to the job queue. If `continuous` is set to `false`, the job will be deleted after the velocity has reached the target speed. If set to `true`, the npc will keep the speed until the next longitudinal control command. +When `constraint` is set to `LONGITUDINAL_ACCELERATION`, the entity will accelerate to the target speed with acceleration rate you set. +If `transition` is set to `LINEAR`, the entity will accelerate to the target speed linearly. +If `transition` is set to `AUTO`, it will change the maximum acceleration speed of the entity and append the job to change the target speed of the npc to the job queue. After the npc reaches the target speed, it will change the maximum acceleration speed back to the original value. +When `constraint` is set to `TIME`, the entity will accelerate to the target speed by the time you set. +When `constraint` is set to `NONE`, is will append the job to change the target_speed of the npc to the job queue. + | Value | Type | Description | | ------------ | --------------------------------- | ----------------------------------------------------------- | From 935d1f4e2f2e630f3e928672c974e729bc43ac85 Mon Sep 17 00:00:00 2001 From: koki suzuki Date: Wed, 24 Jul 2024 18:05:22 +0900 Subject: [PATCH 039/304] chore: Update Longitudinal_control.md with additional details for requestSpeedChange API --- docs/developer_guide/Longitudinal_control.md | 19 ++++++++++++------ .../requestSpeedChange.png | Bin 0 -> 333205 bytes 2 files changed, 13 insertions(+), 6 deletions(-) create mode 100644 docs/developer_guide/images/Longitudinal_control/requestSpeedChange.png diff --git a/docs/developer_guide/Longitudinal_control.md b/docs/developer_guide/Longitudinal_control.md index b51be59f9ee..f886d60ef48 100644 --- a/docs/developer_guide/Longitudinal_control.md +++ b/docs/developer_guide/Longitudinal_control.md @@ -28,10 +28,11 @@ MiscObjectEntity can not be controlled by this API. | target_speed | double | Target speed of the npc. | | continuous | bool | If true the npc will keep the speed until the next command. | #### EgoEntity -`target_speed` will be set to the target speed of the EgoEntity only before the scenario starts. +`target_speed` will be set as initial target speed of the EgoEntity only before the scenario starts. #### Other entity -The function will append the job to change the target_speed of the npc to the job queue. If `continuous` is set to `false`, the job will be deleted after the velocity has reached the target speed. If set to `true`, the npc will keep the speed until the next longitudinal control command. It will accelerate on maximum acceleration rate set previously. +The function will change the target speed of entity to `target_speed` immediately. +If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the npc will keep the speed until the next longitudinal control command ordered. It will accelerate on maximum acceleration rate set previously. | Value | Type | Description | | ------------ | ------------------------ | ----------------------------------------------------------- | @@ -41,16 +42,22 @@ The function will append the job to change the target_speed of the npc to the jo | constraint | speed_change::Constraint | Constraint type. | | continuous | bool | If true the npc will keep the speed until the next command. | #### EgoEntity -`target_speed` will be set to the target speed of the EgoEntity only before the scenario starts. +`target_speed` will be set as initial target speed of the EgoEntity only before the scenario starts. #### Other entity -The function will append the job to change the target_speed of the npc to the job queue. If `continuous` is set to `false`, the job will be deleted after the velocity has reached the target speed. If set to `true`, the npc will keep the speed until the next longitudinal control command. +If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the npc will keep the speed until the next longitudinal control command ordered. + When `constraint` is set to `LONGITUDINAL_ACCELERATION`, the entity will accelerate to the target speed with acceleration rate you set. -If `transition` is set to `LINEAR`, the entity will accelerate to the target speed linearly. -If `transition` is set to `AUTO`, it will change the maximum acceleration speed of the entity and append the job to change the target speed of the npc to the job queue. After the npc reaches the target speed, it will change the maximum acceleration speed back to the original value. +- If `transition` is set to `LINEAR`, the entity will accelerate to the target speed linearly. +- If `transition` is set to `AUTO`, it will change the maximum acceleration speed of the entity and append the job to change the target speed of the npc to the job queue. After the npc reaches the target speed, it will change the maximum acceleration speed back to the original value. +- If `transition` is set to `STEP`, it + + When `constraint` is set to `TIME`, the entity will accelerate to the target speed by the time you set. When `constraint` is set to `NONE`, is will append the job to change the target_speed of the npc to the job queue. +![requestSpeedChange](../images/Longitudinal_control/requestSpeedChange.png) + | Value | Type | Description | | ------------ | --------------------------------- | ----------------------------------------------------------- | diff --git a/docs/developer_guide/images/Longitudinal_control/requestSpeedChange.png b/docs/developer_guide/images/Longitudinal_control/requestSpeedChange.png new file mode 100644 index 0000000000000000000000000000000000000000..66a7e96bb5a6108d4b012c37b141f73613d364e6 GIT binary patch literal 333205 zcmb?@c_7ql-**^ADoUuVC1eRDAro4VUCF*iB5TOLjL~Ve71@_jD%rE|h6-7Sgsdam zSh9^}3}fcKess?JKF_(|`^j^kzjDg?UDx&9zn|~&R9jPd|K4MJckSA>U*+1>8@qNf z!glSV4W!!*{$`emxdZ$`<#t2)@~)gVj;UR{cy_5=y>!!y>gOQ+fU{1OG?_Dw&*b6r zvwUxZZ@6>?-?$l8I(WlWQ1ON8sII9{=*hUIb{3~&@6WZr`6AMEx1H~}gy5B=1Mc^} zQz*D8?_{jmMg_WaDG7}w1XQ)n5aoOge6tB=zS-`{J?nn@(Y2F#ny_?|j0^`BH^vuAEPJe%La+ 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zLfhE{B{1PI_i|w>UILF(e@gxA%71z}d?Zq{PIIw&welh!>ES+c>`Ln1eFvbZ6Xy6B z^af_Z-iC}*YHKxNH`cNO+x-A83{>{@i$wxT{KlVO5|a94Yl=gIkYeS!eBB{7(6+}Y zbG%Q^sh!ty7z%S=_SZ?ub{*%`sEsX{*R=UaEj#e|FrQJYxiJfRGEjiv&rk`wJ%zZf zoAElFkQjGJ+AO!YiIQ_fCcO?a_I}p3@JO8B-JV1iwAgQM!&PhkmT&I;nX6g%j+K3Y z;OlWaXP@nf?n2r&FanF}&e9q%(V*aE6nAy3tw@v#mZQKRCJKaUg zg+&z?u3s#lnwpld&L^093ViwTaL|-vp~~XtqqtE6zFN1Fc+HK9YW5kaE~p z1E*b6c+_)WuE6WKNWObaBFs`FUzee=lHtDanykRB-=b)!gRozNxQ>Z;AG|*@BVoPG zwr|-jH*@!Ny_UxdescN|t%5}l(cn#d#iCobu+i6?yrI{#3{6|5!|!Oa^&SNNWdiU| z(*_9+MDD1P+C%xw034W;w`LrAe>YA$Sa%AzD8mMdoTvF!^~jaee6eES6lj%)twpFAw?6?3QAN%l0rK1eJU}yunUE79@%Vl zK$m6qX09)kEn4<}f*ieSYbKootzjv!@Ol*>P!E2klMI2?&TcOY*W!tjdKi&g?ZKty zobUU7tf0*ZA^v_}aHuM4LYw0HmR%wC$~p`?8A+|mGC81`ixaB`woZs+rPTJ-fcR2+ zxzfRKGgaO#Exu`1*o&y@?)j%jp8tnyWJO(nRS|}ka?c{}vyDPy!q9O4tJFDXA5J#; z_}F;IuTM(*qpJe6OsW92N#0`c6)~HAS4%2GvBw0}92$HIDcXmU-6=#x&iS9Ra$Su4f50R~KLC8wNIt z3HY8&Lt95SXTU125);1&vo4|qEY!Dps&>KxGy4vEjqWyR>RA>#ca_$y_D+|Fje#9S zYrp8XkZaMyXkfJ%7-R$5lx#5e-pYM7Mh=+{FMmauySpm8!k!{g=Rdn35RIop9%YmU z5p(1~a-9#=|1pu}8<8toi_R)fJmyXD`klmEAB|68?x0eSu}uKkUs*t0n<3E%BZb?bM69x Date: Thu, 25 Jul 2024 01:25:57 +0000 Subject: [PATCH 040/304] Update OpenSCENARIOSupport.md --- docs/developer_guide/OpenSCENARIOSupport.md | 1032 ++++++++++++++----- 1 file changed, 750 insertions(+), 282 deletions(-) diff --git a/docs/developer_guide/OpenSCENARIOSupport.md b/docs/developer_guide/OpenSCENARIOSupport.md index e71a23da9d5..b8b71f4628f 100644 --- a/docs/developer_guide/OpenSCENARIOSupport.md +++ b/docs/developer_guide/OpenSCENARIOSupport.md @@ -7,184 +7,188 @@ If you want to know about OpenSCENARIO, refer to the link below. - [ASAM OpenSCENARIO: User Guide](https://releases.asam.net/OpenSCENARIO/1.0.0/ASAM_OpenSCENARIO_BS-1-2_User-Guide_V1-0-0.html) - [OpenSCENARIO 1.0.0 XSD documentation](https://releases.asam.net/OpenSCENARIO/1.0.0/Model-Documentation/index.html) -## Specific Features ---- +## Dialects and Extensions -### ROS 2 Launch-like substitution syntax +### Substitution Syntax -Our interpreter supports some substitution syntax of [the ROS 2 Launch system](https://design.ros2.org/articles/roslaunch_xml.html#dynamic-configuration) (a.k.a. string-interpolation). -The substitution syntax works with any attribute string in OpenSCENARIO XML. +The interpreter supports some substitution syntax of [the ROS 2 Launch system](https://design.ros2.org/articles/roslaunch_xml.html#dynamic-configuration) (a.k.a. string-interpolation). The substitution syntax works with any attribute string in OpenSCENARIO XML. -This substitution is done only once when reading the attribute. -Note that the substitution result is finalized before the simulation starts, so it is not affected by the `ParameterModifyAction`, etc. that takes effect during the simulation. +Substitution syntaxes can be nested and the substitution is performed from the innermost to the outermost in order. -The supported functions and their behavior are shown below. +> [!IMPORTANT] +> This substitution is performed only once during the reading of the attribute, so changes in parameters that occur during the simulation, such as those from `ParameterModifyAction`, do not affect the substitution. -#### `$(find-pkg-prefix )` +#### Available Syntax -Equivalent to the following description given in ROS 2 Design (unless we made a mistake in our implementation). +##### `$(find-pkg-prefix )` -> Substituted by the install prefix path of the given package. Forward and backwards slashes will be resolved to the local filesystem convention. Substitution will fail if the package cannot be found. +Substituted with the install prefix path of the given package. Forward and backwards slashes will be resolved to the local filesystem convention. Substitution will fail if the specified name is not ROS 2 package. -The package specified must be a ROS 2 package. +##### `$(var )` -#### `$(var )` +Substituted with an external representation of the value of the specified OpenSCENARIO parameter. The parameters you specify must be declared by `ParameterDeclarations` before `$ (var ...)` is written. -Replaces with an external representation of the value of the specified -OpenSCENARIO parameter. -The parameters you specify must be declared by ParameterDeclarations before -`$ (var ...)` is written. +##### `$(dirname)` -#### `$(dirname)` +Substituted with the path to the directory where the running scenario script is located. -Substitute the path to the directory where the running scenario script is located. +#### Example -#### Evaluation of nested substitution syntax +```yml +ParameterDeclarations: + ParameterDeclaration: + - name: map_name + parameterType: string + value: kashiwanoha +RoadNetwork: + LogicFile: + filepath: $(find-pkg-share $(var map_name)_map)/map/lanelet2_map.osm +``` -These substitution syntaxes can be nested in any rank. -The replacement is done from the inside to the outside of the nest. -An example is shown below. +### Scoping -``` XML - - - - - - - -``` +The OpenSCENARIO XML standard [does not define](https://releases.asam.net/OpenSCENARIO/1.0.0/ASAM_OpenSCENARIO_BS-1-2_User-Guide_V1-0-0.html#:~:text=If%20a%20reference,lookup%20is%20undefined.) what to do if the name cannot be resolved. In the interpreter, the names of the Element and Parameter are lexically scoped. -## Implementation Dependent Behaviors ---- +- If you refer to an identifier that does not exist, the simulation will stop with an error. +- If multiple identifiers with the same name are defined, the identifier reference is chosen that is closest to the lexical position where the reference occurred. +- Defining a `StoryboardElement` with the same name at the same level is treated as a syntax error (In normal lexical scoping, this should be handled by shadowing, but in scenario languages it is likely a copy-and-paste mistake). -OpenSCENARIO has the function that the detailed behavior is left to the decision of the implementation side, which is defined as "subject of a contract between simulation environment provider and scenario author". +### Command -### Scoping +OpenSCENARIO XML standard states that `CustomCommandAction` can be used to either issue a command to the simulation environment or start an external script. -The OpenSCENARIO standard does not define what to do if the name cannot be resolved, as quoted below. +For OpenSCENARIO interpreters implemented in scripting languages such as Python, this action is often implemented as a call to an external script file written in the same language as the host language. However, `scenario_simulator_v2` is implemented in C++ and we cannot simply implement such a feature. Therefore, `scenario_simulator_v2` treats the string given in `CustomCommandAction.type` as a command and executes it on a subprocess, as `sh` does. -> If a reference cannot be resolved uniquely, for example if too few name prefixes have been specified to disambiguate fully, the result of the lookup is undefined. +> [!NOTE] +> To make scenarios portable, the usage of `CustomCommandAction` should be avoided. -In our interpreter, the names of the Element and Parameter are lexically scoped. +#### Built-in Commands -- If you refer to an identifier that does not exist, the simulation will stop with an error. -- If multiple identifiers with the same name are defined, the identifier reference is chosen that is closest to the lexical position where the reference occurred. -- Defining a StoryboardElement with the same name at the same level is treated as a syntax error (In normal lexical scoping, this should be handled by shadowing, but in scenario languages it is likely a copy-and-paste mistake). +##### `FaultInjectionAction(, ...)` -### CustomCommandAction +Same as `FaultInjectionAction@v1`. -This Action is specified in the standard as follows. -> Used to either issue a command to the simulation environment or start an external script. Allows the user to activate custom actions in their simulation tool. +##### `FaultInjectionAction@v1(, ...)` -For OpenSCENARIO interpreters implemented in scripting languages such as Python, this Action is often implemented as a call to an external script file written in the same language as the host language. -However, our interpreter is implemented in C++ and we cannot simply implement such a feature. -Therefore, our interpreter treats the string given in CustomCommandAction.type as a command and executes it on a subprocess, as `sh` does. +Forward any number of event names to Autoware as ERROR level event. Events are forwarded by publishing to the `tier4_simulation_msgs::msg::SimulationEvents` type topic `/simulation/events`. In order to perform fault injection using this `CustomCommandAction`, Autoware must have a node that receives the above message types. Note that `scenario_simulator_v2` has no knowledge of the contents of the event name. In other words, what happens to Autoware by this `CustomCommandAction` depends on Autoware implementation. -For example, the `echo` command can be written as follows: -``` XML - - Hello, world! - +##### `FaultInjectionAction@v2(, )` + +Forwards a single event to Autoware with the specified error level. Same as `FaultInjectionAction@v1` except that instead of specifying an error level, only one event can be specified at a time. Available error levels are `OK`, `WARN`, `ERROR` and `STALE`. + +##### `PseudoTrafficSignalDetectorConfidenceSetAction@v1(, )` + +Set a confidence value for traffic light topic. This action sets the confidence value to all traffic light bulbs of specified traffic light. If you specify the traffic light by a regulatory element ID, this action sets the confidence value to all traffic lights the regulatory element refers to. + +##### `RequestToCooperateCommandAction@v1(, )` + +Send an `ACTIVATE` / `DEACTIVATE` command to the module publishing a valid request to cooperate. If the send fails, throw an exception to fail the scenario. + +##### `V2ITrafficSignalStateAction(, , )` + +`TrafficSignalStateAction` for V2I traffic signal. You can optionally specify the publish rate of the traffic signal topic, but otherwise the functionality is the same as `TrafficSignalStateAction`. + +##### `WalkStraightAction(, ...)` + +Make **pedestrian** entities walk straight without a target. + +##### `exitFailure` + +This command immediately terminates the simulation as a failure without transitioning the state of the `StoryboardElement`. See [Termination](#termination) for more details. + +##### `exitSuccess` + +This command immediately terminates the simulation as a success without transitioning the state of the `StoryboardElement`. See [Termination](#termination) for more details. + +##### `:` (do nothing) + +Actually `:` is not a built-in command but executed as a shell command, it is worth mentioning here as it achieves 'doing nothing'. `:` is known as the null command in shell scripts, and can be used as a command that does nothing in the simulator as well. + +```yml +UserDefinedAction: + CustomCommandAction: + type: ':' ``` -The string given to attribute `type` of CustomCommandAction and the string given to its content are concatenated with whitespace and passed to the subprocess. -Therefore, the following two cases have the same effect. +#### Example + +In YAML format, `echo` command can be written as follows: + +```yml +UserDefinedAction: + CustomCommandAction: + type: 'echo Hello, world!' +``` + +In XML format, the string given to attribute `type` of `CustomCommandAction` and the string given to its content are concatenated with whitespace and passed to the subprocess so following two examples have the same effect. ``` XML - - Hello, world" - + + Hello, world" + ``` ``` XML - - - + + + ``` The effect of calling a command with `CustomCommandAction` is outside the control of the interpreter. Therefore, if you call a command that has a destructive effect on the system, there is no guarantee that the scenario execution can continue normally. -**For portable scenarios, the use of CustomCommandAction should be avoided as much as possible or limited to the scope of POSIX.** +### Condition -#### NullAction +`UserDefinedValueCondition` enables simulators to import external values and compare them with a specific value. The boolean value of the comparison result can be used as a condition to control the scenario. -In particular, the following usages that achieve "do nothing action" are worth special mention. -Here, the colon (`:`) specified in the `CustomCommandAction.type` is the `sh` command is known by the name of the null-command. +#### Autoware-related Built-in Conditions -``` XML - - - -``` +`scenario_simulator_v2` uses `UserDefinedValueCondition` to control the progress of the scenario by Autoware's state. -#### Built-in commands +##### `.currentState` -| Syntax | Description | -|:------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| 
UserDefinedAction:
  CustomCommandAction:
    type: FaultInjectionAction(, ...)
| Same as FaultInjectionAction@v1. | -| 
UserDefinedAction:
  CustomCommandAction:
    type: FaultInjectionAction@v1(, ...)
| Forward any number of event names to Autoware as `ERROR` level event. Events are forwarded by publishing to the `tier4_simulation_msgs::msg::SimulationEvents` type topic `/simulation/events`. In order to perform fault injection using this CustomCommandAction, Autoware must have a node that receives the above message types. Note that the simulator has no knowledge of the contents of the event name. In other words, what happens to Autoware by this CustomCommandAction depends on Autoware implementation. | -| 
UserDefinedAction:
  CustomCommandAction:
    type: FaultInjectionAction@v2(, )
| Forwards a single event to Autoware with the specified error level. Same as `FaultInjectionAction@v1` except that instead of specifying an error level, only one event can be specified at a time. Available error levels are `OK`, `WARN`, `ERROR` and `STALE`. | -| 
UserDefinedAction:
  CustomCommandAction:
    type: PseudoTrafficSignalDetectorConfidenceSetAction@v1(, )
| Set a confidence value for traffic light topic. This action sets the confidence value to all traffic light bulbs of specified traffic light. If you specify the traffic light by a regulatory element ID, this action sets the confidence value to all traffic lights the regulatory element refers to. | -| 
UserDefinedAction:
  CustomCommandAction:
    type: RequestToCooperateCommandAction@v1(, )
| Send an `ACTIVATE` / `DEACTIVATE` command to the module publishing a valid request to cooperate. If the send fails, throw an exception to fail the scenario. | -| 
UserDefinedAction:
  CustomCommandAction:
    type: V2ITrafficSignalStateAction(, ,    \
                                      )
| TrafficSignalStateAction for V2I traffic signal. You can optionally specify the publish rate of the traffic signal topic, but otherwise the functionality is the same as `TrafficSignalStateAction`. | -| 
UserDefinedAction:
  CustomCommandAction:
    type: WalkStraightAction(, ...)
| Make **pedestrian** entities walk straight without a target. | -| 
UserDefinedAction:
  CustomCommandAction:
    type: exitFailure
| Immediately terminates the simulation as a failure. | -| 
UserDefinedAction:
  CustomCommandAction:
    type: exitSuccess
| Immediately terminates the simulation as successful. | +Returns Autoware's [state](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_system_msgs/msg/AutowareState.idl). `` must be the name of Vehicle with ObjectController's property `isEgo` set to true. -The termination ignores the StoryboardElement's lifecycle transition (that is, it means that `StoryboardElementStateCondition` cannot be used to prevent or detect the execution of this command). +##### `.currentMinimumRiskManeuverState.behavior` -The terminated scenario determines the final success / failure / error. +Returns Autoware's [MRM behavior](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/system/msg/MrmState.msg). `` must be the name of Vehicle with ObjectController's property `isEgo` set to true. -**Currently, simulation results are notified by simply writing to standard output as text. This notification method is temporary and will change in the near future.** +##### `.currentMinimumRiskManeuverState.state` -The following built-in commands are debug commands for interpreter developers, not scenario creators. -It is unlikely that you will need these commands for normal scenario creation. +Returns Autoware's [MRM state](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/system/msg/MrmState.msg). `` must be the name of Vehicle with ObjectController's property `isEgo` set to true. -| Name | Effect | -|:--------|:--------------------------------------------------------------------------------------------------| -| error | Generate internal error: Used to ensure that the simulator does not crash with an internal error. | -| sigsegv | Access a null pointer: Used to make sure the simulator does not crash with an internal error. | +##### `.currentEmergencyState` -### UserDefinedValueCondition +Returns Autoware's [emergency state](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_system_msgs/msg/EmergencyState.idl). `` must be the name of Vehicle with ObjectController's property `isEgo` set to true. -This condition enables us to import external values and compare them with a specific value. -The boolean value of the comparison result can be used as a condition to control the scenario. -In scenario_simulator_v2, we use `UserDefinedValueCondition` to control the progress of the scenario by Autoware's state. +##### `.currentTurnIndicatorsState` -```XML - - - -``` -#### Built-in conditions +Returns Autoware's [turn indicators state](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand.idl). `` must be the name of Vehicle with ObjectController's property `isEgo` set to true. + +#### Other Built-in Conditions + +##### `RelativeHeadingCondition()` -Like "currentState", the conditions start with "current" return Autoware-related conditions. -And like "ego.currentState", they can specify the entity reference by prepending the name of the entity +Calculates the relative angle between the orientation of `` and the orientation of the lane on which `` is positioned. -The following built-in conditions return a string that represents the state. -See Reference for specific strings. +##### `RelativeHeadingCondition(, , )` -| Name | Syntax | Description | -|----------------------------|----------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| currentState | `.currentState` | Returns Autoware's [state](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_system_msgs/msg/AutowareState.idl). `` must be the name of Vehicle with ObjectController's property `isEgo` set to true. | -| currentEmergencyState | `.currentEmergencyState` | Returns Autoware's [emergency state](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_system_msgs/msg/EmergencyState.idl). `` must be the name of Vehicle with ObjectController's property `isEgo` set to true. | -| currentTurnIndicatorsState | `.currentTurnIndicatorsState` | Returns Autoware's [turn indicators state](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand.idl). `` must be the name of Vehicle with ObjectController's property `isEgo` set to true. | -| RelativeHeadingCondition | `RelativeHeadingCondition()`
`RelativeHeadingCondition(, , )` | Returns the relative angle to the lane heading. | +Calculates the relative angle between the orientation of `` and the direction at the position specified by `` on ``. -#### External ROS 2 topic condition +#### ROS2 Topic Condition -You can pass values from another ROS 2 node to a scenario through ROS 2 topics. -The `name` field should be filled with the name of the ROS 2 topic like below. -```XML - - - +`scenario_simulator_v2` can read values from another ROS 2 node to a scenario through ROS 2 topics. `name` field should be filled with the name of the ROS 2 topic like below. + +```yml +ByValueCondition: + UserDefinedValueCondition: + name: /count_up + rule: equalTo + value: '500' ``` The type of topic must be `tier4_simulation_msgs::msg::UserDefinedValue` type. -You can handle the following through this function. +`scenario_simulator_v2` can handle the following through this function. - Boolean - DateTime @@ -196,200 +200,664 @@ You can handle the following through this function. See [Message Definitions](https://github.com/tier4/tier4_autoware_msgs/tree/tier4/universe/tier4_simulation_msgs) for more information. -## Non-Standard Extensions ---- - -### Success/failure judgment - -Our interpreters have been developed with the intention of incorporating them into the CI / CD pipelines in autonomous driving systems. -Therefore, executing a scenario can result in success, failure, or error. -Note that "error" means a flaw in the scenario, such as a syntax error, or an internal error, not an "error in an automated driving system" such as "a vehicle accident occurred in a simulation". -In such cases, you will be notified of a "failure". - -## Supporting Status ---- - -Our OpenSCENARIO Interpreter does not currently support the full range of -OpenSCENARIO standards. - -### Actions - -| Name | Support Status | Limitations | OpenSCENARIO changes | -|:----------------------------------------------------------------------------------------|:--------------:|:-----------------------------------|----------------------| -| GlobalAction.**EnvironmentAction** | Unsupported | | | -| GlobalAction.EntityAction.**AddEntityAction** | ✔ | | | -| GlobalAction.EntityAction.**DeleteEntityAction** | ✔ | | | -| GlobalAction.ParameterAction.**ParameterSetAction** | ✔ | See [here](#parametersetaction) | deprecated from v1.2 | -| GlobalAction.ParameterAction.**ParameterModifyAction** | ✔ | No | deprecated from v1.2 | -| GlobalAction.InfrastructureAction.TrafficSignalAction.**TrafficSignalControllerAction** | ✔ | | | -| GlobalAction.InfrastructureAction.TrafficSignalAction.**TrafficSignalStateAction** | ✔ | | | -| GlobalAction.TrafficAction.**TrafficSourceAction** | Unsupported | | | -| GlobalAction.TrafficAction.**TrafficSinkAction** | Unsupported | | | -| GlobalAction.TrafficAction.**TrafficSwarmAction** | Unsupported | | | -| GlobalAction.TrafficAction.**TrafficStopAction** | Unsupported | | | -| GlobalAction.VariableAction.**VariableSetAction** | Unsupported | | created in v1.2 | -| GlobalAction.VariableAction.**VariableModifyAction** | Unsupported | | created in v1.2 | -| UserDefinedAction.**CustomCommandAction** | ✔ | See [here](#customcommandaction) | | -| PrivateAction.AppearanceAction.**AnimationAction** | Unsupported | | created in v1.2 | -| PrivateAction.AppearanceAction.**LightStateAction** | Unsupported | | created in v1.2 | -| PrivateAction.LongitudinalAction.**SpeedAction** | ✔ | See [here](#speedaction) | | -| PrivateAction.LongitudinalAction.**SpeedProfileAction** | Unsupported | | created in v1.2 | -| PrivateAction.LongitudinalAction.**LongitudinalDistanceAction** | Unsupported | | | -| PrivateAction.LateralAction.**LaneChangeAction** | ✔ | See [here](#lanechangeaction) | | -| PrivateAction.LateralAction.**LaneOffsetAction** | Unsupported | | | -| PrivateAction.LateralAction.**LateralDistanceAction** | Unsupported | | | -| PrivateAction.**VisibilityAction** | Unsupported | | | -| PrivateAction.**SynchronizeAction** | Unsupported | | | -| PrivateAction.**ActivateControllerAction** | Unsupported | | deprecated from v1.2 | -| PrivateAction.ControllerAction.**AssignControllerAction** | ✔ | | | -| PrivateAction.ControllerAction.**ActivateControllerAction** | Unsupported | | | -| PrivateAction.ControllerAction.**OverrideControllerValueAction** | Unsupported | | | -| PrivateAction.**TeleportAction** | ✔ | See [here](#teleportaction) | | -| PrivateAction.RoutingAction.**AssignRouteAction** | ✔ | | | -| PrivateAction.RoutingAction.**FollowTrajectoryAction** | ✔ | See [here](#followtrajectoryaction)| | -| PrivateAction.RoutingAction.**AcquirePositionAction** | ✔ | See [here](#acquirepositionaction) | | +#### Example + +```yml +ByValueCondition: + UserDefinedValueCondition: + name: ego.currentState + rule: equalTo + value: ARRIVED_GOAL +``` + +### Termination + +`scenario_simulator_v2` is being developed to be integrated into the CI/CD pipeline of autonomous driving systems, and it concludes simulations with a status of either `success`, `failure`, or `error`. `failure` and `error` are each caused by different factors. Specifically, `failure` is used when issues arise from the autonomous driving system itself, such as a vehicle accident occurring during the simulation. On the other hand, `error` is specifically attributed to problems on the simulator's side, such as syntax errors in the scenario file or internal errors within the simulator itself. + +Within the scenario, you can end the scenario simulation with a status of either `success` or `failure` by using `exitSuccess` and `exitFailure` from `CustomCommandAction`. + +> [!IMPORTANT] +> `exitSuccess` and `exitFailure` terminate the simulation immediately without any state transitions in the lifecycle of a `StoryboardElement`. This means there is no way to detect simulations terminated by `exitSuccess` or `exitFailure` from within the scenario using conditions like `StoryboardElementStateCondition`. + +Currently, the only way to know the result of the simulation is by viewing the status string printed to standard output. However, this method may change in the future. +## Conformance + +| Name | Supported Version | Detail | +|:---------------------------------------------|:-----------------:|:------------------------------------------:| +| AbsoluteSpeed | unimplemented | | +| AbsoluteTargetLane | 1.3 | | +| AbsoluteTargetLaneOffset | unimplemented | | +| AbsoluteTargetSpeed | 1.3 | | +| AccelerationCondition | 1.3 | | +| AcquirePositionAction | 1.3 (partial) | [detail](#AcquirePositionAction) | +| Act | 1.3 | | +| Action | 1.3 | | +| ActivateControllerAction | unimplemented | | +| Actors | 1.3 (partial) | | +| AddEntityAction | 1.3 | | +| AngleCondition | unimplemented | | +| AngleType | unimplemented | | +| AnimationAction | unimplemented | | +| AnimationFile | unimplemented | | +| AnimationState | unimplemented | | +| AnimationType | unimplemented | | +| AppearanceAction | unimplemented | | +| AssignControllerAction | 1.2 (partial) | [detail](#AssignControllerAction) | +| AssignRouteAction | 1.3 | | +| AutomaticGear | unimplemented | | +| AutomaticGearType | unimplemented | | +| Axle | 1.3 | | +| Axles | 1.3 | [detail](#Axles) | +| BoundingBox | 1.3 | | +| Brake | unimplemented | | +| BrakeInput | unimplemented | | +| ByEntityCondition | 1.3 | | +| ByObjectType | unimplemented | | +| ByType | 1.3 | | +| ByValueCondition | 1.3 (partial) | [detail](#ByValueCondition) | +| Catalog | 1.3 (partial) | [detail](#Catalog) | +| CatalogDefinition | 1.3 | | +| CatalogLocations | 1.3 | | +| CatalogReference | 1.3 | | +| Center | 1.3 | | +| CentralSwarmObject | unimplemented | | +| Clothoid | unimplemented | | +| ClothoidSpline | unimplemented | | +| ClothoidSplineSegment | unimplemented | | +| CloudState | unimplemented | | +| CollisionCondition | 1.3 (partial) | [detail](#CollisionCondition) | +| Color | unimplemented | | +| ColorCmyk | unimplemented | | +| ColorRgb | unimplemented | | +| ColorType | unimplemented | | +| ComponentAnimation | unimplemented | | +| Condition | 1.3 | | +| ConditionEdge | 1.3 (modified) | [detail](#ConditionEdge) | +| ConditionGroup | 1.3 | | +| ConnectTrailerAction | unimplemented | | +| ControlPoint | unimplemented | | +| Controller | 1.1 | [detail](#Controller) | +| ControllerAction | 1.0 | [detail](#ControllerAction) | +| ControllerCatalogLocation | 1.3 | | +| ControllerDistribution | unimplemented | | +| ControllerDistributionEntry | unimplemented | | +| ControllerType | unimplemented | | +| CoordinateSystem | 1.2 (partial) | [detail](#CoordinateSystem) | +| CustomCommandAction | 1.3 | | +| CustomContent | unimplemented | | +| DeleteEntityAction | 1.3 | | +| Deterministic | 1.3 | | +| DeterministicMultiParameterDistribution | 1.3 | | +| DeterministicMultiParameterDistributionType | 1.3 | | +| DeterministicParameterDistribution | 1.3 | | +| DeterministicSingleParameterDistribution | 1.3 | | +| DeterministicSingleParameterDistributionType | 1.3 | | +| Dimensions | 1.3 | | +| DirectionOfTravelDistribution | unimplemented | | +| DirectionalDimension | unimplemented | | +| Directory | 1.3 | | +| DisconnectTrailerAction | unimplemented | | +| DistanceCondition | 1.3 (partial) | [detail](#DistanceCondition) | +| DistributionDefinition | 1.3 | | +| DistributionRange | 1.3 (partial) | [detail](#DistributionRange) | +| DistributionSet | 1.3 | | +| DistributionSetElement | 1.3 | | +| DomeImage | 1.3 | | +| DynamicConstraints | 1.3 | | +| DynamicsDimension | 1.3 | | +| DynamicsShape | 1.3 (partial) | [detail](#DynamicsShape) | +| EndOfRoadCondition | unimplemented | | +| Entities | 1.3 (partial) | [detail](#Entities) | +| EntityAction | 1.3 | | +| EntityCondition | 1.1 (partial) | [detail](#EntityCondition) | +| EntityDistribution | unimplemented | | +| EntityDistributionEntry | unimplemented | | +| EntityObject | 1.3 (partial) | [detail](#EntityObject) | +| EntityRef | 1.3 | | +| EntitySelection | 1.3 | | +| Environment | 1.3 | | +| EnvironmentAction | 1.3 | | +| EnvironmentCatalogLocation | 1.3 | | +| Event | 1.3 | | +| ExternalObjectReference | unimplemented | | +| File | 1.3 | | +| FileHeader | 1.3 | | +| FinalSpeed | unimplemented | | +| Fog | 1.3 | | +| FollowTrajectoryAction | 1.3 | [detail](#FollowTrajectoryAction) | +| FollowingMode | 1.3 | | +| FractionalCloudCover | 1.3 | | +| Gear | unimplemented | | +| GeoPosition | unimplemented | | +| GlobalAction | 1.1 (partial) | [detail](#GlobalAction) | +| Histogram | 1.3 | | +| HistogramBin | 1.3 | | +| InRoutePosition | unimplemented | | +| InfrastructureAction | 1.3 | | +| Init | 1.3 | | +| InitActions | 1.3 | | +| Knot | unimplemented | | +| Lane | unimplemented | | +| LaneChangeAction | 1.3 (partial) | [detail](#LaneChangeAction) | +| LaneChangeTarget | 1.3 | | +| LaneOffsetAction | unimplemented | | +| LaneOffsetActionDynamics | unimplemented | | +| LaneOffsetTarget | unimplemented | | +| LanePosition | 1.3 | | +| LateralAction | 1.3 (partial) | [detail](#LateralAction) | +| LateralDisplacement | unimplemented | | +| LateralDistanceAction | unimplemented | | +| License | 1.3 | | +| LightMode | unimplemented | | +| LightState | unimplemented | | +| LightStateAction | unimplemented | | +| LightType | unimplemented | | +| LogNormalDistribution | unimplemented | | +| LongitudinalAction | 1.3 | [detail](#LongitudinalAction) | +| LongitudinalDisplacement | unimplemented | | +| LongitudinalDistanceAction | unimplemented | | +| Maneuver | 1.3 | | +| ManeuverCatalogLocation | 1.3 | | +| ManeuverGroup | 1.3 | | +| ManualGear | unimplemented | | +| MiscObject | 1.3 | | +| MiscObjectCatalogLocation | 1.3 | | +| MiscObjectCategory | 1.3 (partial) | [detail](#MiscObjectCategory) | +| ModifyRule | 1.1 | [detail](#ModifyRule) | +| MonitorDeclaration | unimplemented | | +| MonitorDeclarations | unimplemented | | +| None | 1.3 | | +| NormalDistribution | 1.3 | | +| Nurbs | unimplemented | | +| ObjectController | 1.3 | [detail](#ObjectController) | +| ObjectType | 1.3 | | +| OffroadCondition | unimplemented | | +| OpenScenario | 1.3 | | +| OpenScenarioCategory | 1.3 (modified) | [detail](#OpenScenarioCategory) | +| Orientation | 1.3 | | +| OverrideBrakeAction | unimplemented | | +| OverrideClutchAction | unimplemented | | +| OverrideControllerValueAction | unimplemented | | +| OverrideGearAction | unimplemented | | +| OverrideParkingBrakeAction | unimplemented | | +| OverrideSteeringWheelAction | unimplemented | | +| OverrideThrottleAction | unimplemented | | +| ParameterAction | 1.1 | [detail](#ParameterAction) | +| ParameterAddValueRule | 1.1 | [detail](#ParameterAddValueRule) | +| ParameterAssignment | 1.3 | | +| ParameterCondition | 1.3 | | +| ParameterDeclaration | 1.3 | | +| ParameterModifyAction | 1.1 | [detail](#ParameterModifyAction) | +| ParameterMultiplyByValueRule | 1.1 | [detail](#ParameterMultiplyByValueRule) | +| ParameterSetAction | 1.1 | [detail](#ParameterSetAction) | +| ParameterType | 1.3 | [detail](#ParameterType) | +| ParameterValueDistribution | 1.3 | | +| ParameterValueDistributionDefinition | 1.3 | | +| ParameterValueSet | 1.3 | | +| Pedestrian | 1.3 (partial) | [detail](#Pedestrian) | +| PedestrianAnimation | unimplemented | | +| PedestrianCatalogLocation | 1.3 | | +| PedestrianCategory | 1.3 (partial) | [detail](#PedestrianCategory) | +| PedestrianGesture | unimplemented | | +| PedestrianGestureType | unimplemented | | +| PedestrianMotionType | unimplemented | | +| Performance | 1.3 | | +| Phase | 1.1 | [detail](#Phase) | +| PoissonDistribution | 1.3 | | +| Polygon | unimplemented | | +| Polyline | 1.3 | | +| Position | 1.3 (partial) | [detail](#Position) | +| PositionInLaneCoordinates | unimplemented | | +| PositionInRoadCoordinates | unimplemented | | +| PositionOfCurrentEntity | unimplemented | | +| Precipitation | 1.3 | [detail](#Precipitation) | +| PrecipitationType | 1.3 | | +| Priority | 1.1 | [detail](#Priority) | +| Private | 1.3 | | +| PrivateAction | 1.3 | [detail](#PrivateAction) | +| ProbabilityDistributionSet | 1.3 | | +| ProbabilityDistributionSetElement | 1.3 | | +| Properties | 1.3 (partial) | [detail](#Properties) | +| Property | 1.3 | | +| RandomRouteAction | unimplemented | | +| Range | 1.3 | | +| ReachPositionCondition | 1.1 | [detail](#ReachPositionCondition) | +| ReferenceContext | 1.3 (partial) | [detail](#ReferenceContext) | +| RelativeAngleCondition | unimplemented | | +| RelativeClearanceCondition | unimplemented | | +| RelativeDistanceCondition | 1.3 (partial) | [detail](#RelativeDistanceCondition) | +| RelativeDistanceType | 1.3 | [detail](#RelativeDistanceType) | +| RelativeLanePosition | unimplemented | | +| RelativeLaneRange | unimplemented | | +| RelativeObjectPosition | 1.3 | | +| RelativeRoadPosition | unimplemented | | +| RelativeSpeedCondition | unimplemented | | +| RelativeSpeedToMaster | unimplemented | | +| RelativeTargetLane | 1.3 | | +| RelativeTargetLaneOffset | unimplemented | | +| RelativeTargetSpeed | 1.3 | | +| RelativeWorldPosition | 1.3 | | +| RoadCondition | 1.3 | | +| RoadCursor | unimplemented | | +| RoadNetwork | 1.3 (partial) | [detail](#RoadNetwork) | +| RoadPosition | unimplemented | | +| RoadRange | unimplemented | | +| Role | unimplemented | | +| Route | 1.3 | | +| RouteCatalogLocation | 1.3 | | +| RoutePosition | unimplemented | | +| RouteRef | unimplemented | | +| RouteStrategy | 1.3 (partial) | [detail](#RouteStrategy) | +| RoutingAction | 1.2 | [detail](#RoutingAction) | +| RoutingAlgorithm | 1.3 | | +| Rule | 1.3 | | +| ScenarioDefinition | 1.1 | [detail](#ScenarioDefinition) | +| ScenarioObject | 1.3 | | +| ScenarioObjectTemplate | unimplemented | | +| SelectedEntities | 1.3 | | +| SensorReference | unimplemented | | +| SensorReferenceSet | unimplemented | | +| SetMonitorAction | unimplemented | | +| Shape | 1.2 | [detail](#Shape) | +| SimulationTimeCondition | 1.3 | | +| SpeedAction | 1.3 (partial) | [detail](#SpeedAction) | +| SpeedActionTarget | 1.3 | | +| SpeedCondition | 1.3 (partial) | [detail](#SpeedCondition) | +| SpeedProfileAction | 1.3 | | +| SpeedProfileEntry | 1.3 | | +| SpeedTargetValueType | 1.3 | | +| StandStillCondition | 1.3 | | +| SteadyState | unimplemented | | +| Stochastic | 1.3 | | +| StochasticDistribution | 1.3 | | +| StochasticDistributionType | 1.2 | [detail](#StochasticDistributionType) | +| Story | 1.3 | | +| Storyboard | 1.3 | | +| StoryboardElementState | 1.3 | | +| StoryboardElementStateCondition | 1.3 (modified) | [detail](#StoryboardElementStateCondition) | +| StoryboardElementType | 1.3 | | +| Sun | 1.3 | [detail](#Sun) | +| SynchronizeAction | unimplemented | | +| TargetDistanceSteadyState | unimplemented | | +| TargetTimeSteadyState | unimplemented | | +| TeleportAction | 1.3 | [detail](#TeleportAction) | +| TimeHeadwayCondition | 1.0 | [detail](#TimeHeadwayCondition) | +| TimeOfDay | 1.3 | | +| TimeOfDayCondition | unimplemented | | +| TimeReference | 1.3 | | +| TimeToCollisionCondition | unimplemented | | +| TimeToCollisionConditionTarget | unimplemented | | +| Timing | 1.3 | | +| TrafficAction | unimplemented | | +| TrafficArea | unimplemented | | +| TrafficAreaAction | unimplemented | | +| TrafficDefinition | unimplemented | | +| TrafficDistribution | unimplemented | | +| TrafficDistributionEntry | unimplemented | | +| TrafficSignalAction | 1.3 | | +| TrafficSignalCondition | 1.3 | | +| TrafficSignalController | 1.3 | | +| TrafficSignalControllerAction | 1.3 | | +| TrafficSignalControllerCondition | 1.3 | | +| TrafficSignalGroupState | unimplemented | | +| TrafficSignalState | 1.3 | | +| TrafficSignalStateAction | 1.3 | | +| TrafficSinkAction | unimplemented | | +| TrafficSourceAction | unimplemented | | +| TrafficStopAction | unimplemented | | +| TrafficSwarmAction | unimplemented | | +| Trailer | unimplemented | | +| TrailerAction | unimplemented | | +| TrailerCoupler | unimplemented | | +| TrailerHitch | unimplemented | | +| Trajectory | 1.3 | | +| TrajectoryCatalogLocation | 1.3 | | +| TrajectoryFollowingMode | 1.3 | | +| TrajectoryPosition | unimplemented | | +| TrajectoryRef | 1.3 | | +| TransitionDynamics | 1.1 | [detail](#TransitionDynamics) | +| TraveledDistanceCondition | unimplemented | | +| Trigger | 1.3 | | +| TriggeringEntities | 1.3 | | +| TriggeringEntitiesRule | 1.3 (modified) | [detail](#TriggeringEntitiesRule) | +| UniformDistribution | 1.3 | | +| UsedArea | unimplemented | | +| UserDefinedAction | 1.3 | | +| UserDefinedAnimation | unimplemented | | +| UserDefinedComponent | unimplemented | | +| UserDefinedDistribution | unimplemented | | +| UserDefinedLight | unimplemented | | +| UserDefinedValueCondition | 1.3 | | +| ValueConstraint | 1.3 | | +| ValueConstraintGroup | 1.3 | | +| ValueSetDistribution | 1.3 | | +| VariableAction | unimplemented | | +| VariableAddValueRule | unimplemented | | +| VariableCondition | unimplemented | | +| VariableDeclaration | unimplemented | | +| VariableDeclarations | unimplemented | | +| VariableModifyAction | unimplemented | | +| VariableModifyRule | unimplemented | | +| VariableMultiplyByValueRule | unimplemented | | +| VariableSetAction | unimplemented | | +| Vehicle | 1.1 (partial) | [detail](#Vehicle) | +| VehicleCatalogLocation | 1.3 | | +| VehicleCategory | 1.3 | | +| VehicleCategoryDistribution | unimplemented | | +| VehicleCategoryDistributionEntry | unimplemented | | +| VehicleComponent | unimplemented | | +| VehicleComponentType | unimplemented | | +| VehicleLight | unimplemented | | +| VehicleLightType | unimplemented | | +| VehicleRoleDistribution | unimplemented | | +| VehicleRoleDistributionEntry | unimplemented | | +| Vertex | 1.3 | | +| VisibilityAction | unimplemented | | +| Waypoint | 1.3 | | +| Weather | 1.3 | | +| Wetness | 1.3 | | +| Wind | 1.3 | | +| WorldPosition | 1.3 | | + +### Details + +#### AcquirePositionAction + +- Property `Position` of types `RoadPosition`, `RelativeRoadPosition`, `RelativeLanePosition`, `RoutePosition`, `GeoPosition`, and `TrajectoryPosition` are **not** supported. + +#### AssignControllerAction + +- Properties `activateAnimation`, `activateLateral`, `activateLighting`, and `activateLongitudinal` are ignored. + - The simulator behaves as if these properties are `false`. +- Property `ObjectController` created in version 1.3 is **not** supported. +- Properties `Controller` and `CatalogReference` deprecated in version 1.3 are supported. + +#### Axles + +- Property `RearAxle` is made mandatory in version 1.3, but still can be omitted like specified in version 1.2. + +#### ByValueCondition + +- Properties `TimeOfDayCondition` and `VariableCondition` are **not** supported. + +#### Catalog + +- Property `Trajectory` is ignored. + +#### CollisionCondition + +- Property `ByType` is **not** supported. + +#### ConditionEdge + +- Enumeration literal `sticky` is added as TIER IV extension. + +#### Controller + +- Property `controllerType` created in version 1.2 is ignored. + +#### ControllerAction + +- Property `OverrideControllerValueAction` is ignored. +- Property `ActivateControllerAction` created in version 1.1 is ignored. + +#### CoordinateSystem + +- Enumeration literals `road` and `trajectory` are **not** supported. +- Enumeration literal `world` created in version 1.3 is **not** supported. + +#### DistanceCondition + +- Property `alongRoute` deprecated in version 1.1 is **not** supported. +- Property `Position` of types `RoadPosition`, `RelativeRoadPosition`, `RelativeLanePosition`, `RoutePosition`, `GeoPosition`, and `TrajectoryPosition` are **not** supported. +- Not all combinations of properties for distance calculation are supported. Supported combinations are listed below: + | coordinateSystem | relativeDistanceType | routingAlgorithm | freespace | + |:----------------:|:--------------------:|:----------------:|:---------:| + | entity | euclidianDistance | undefined | false | + | entity | euclidianDistance | undefined | true | + | entity | lateral | undefined | false | + | entity | lateral | undefined | true | + | entity | longitudinal | undefined | false | + | entity | longitudinal | undefined | true | + | lane | lateral | undefined | false | + | lane | lateral | undefined | true | + | lane | longitudinal | undefined | false | + | lane | longitudinal | undefined | true | + | lane | lateral | shortest | false | + | lane | lateral | shortest | true | + | lane | longitudinal | shortest | false | + | lane | longitudinal | shortest | true | + +#### DistributionRange + +- Property `stepWidth` is ignored. + +#### DynamicsShape + +- Enumeration literal `sinusoidal` is **not** supported. + +#### Entities + +- Property `EntitySelection` is **not** supported. + +#### EntityCondition + +- Properties `EndOfRoadCondition`, `OffroadCondition`, `TimeToCollisionCondition`, `RelativeDistanceCondition`, and `TraveledDistanceCondition` are **not** supported. +- Property `ReachPositionCondition` deprecated in version 1.2 is still supported. +- Properties `AngleCondition` and `RelativeAngleCondition` created in version 1.3 are **not** supported. + +#### EntityObject + +- Property `ExternalObjectReference` is **not** supported. + +#### FollowTrajectoryAction + +- Properties `Trajectory` and `CatalogReference` deprecated in version 1.1 are ignored. +- Property `TrajectoryRef` of type `Clothoid` and `Nurbs` are **not** supported. + +#### GlobalAction + +- Properties `TrafficAction` and `VariableAction` are not supported. +- Property `ParameterAction` deprecated in version 1.2 is still supported. +- Property `SetMonitorAction` created in version 1.3 is **not** supported. + +#### LaneChangeAction + +- Specifying `step` for `LaneChangeActionDynamics.dynamicsDimension` is **not** supported. + - Simulator may lead to an undefined behavior if `step` is specified. + +#### LateralAction + +- Properties `LaneOffsetAction` and `LateralDistanceAction` are **not** supported. + +#### LongitudinalAction + +- Property `LongitudinalDistanceAction` is **not** supported. + +#### MiscObjectCategory + +- Enumeration literals `barrier`, `building`, `crosswalk`, `gantry`, `none`, `parkingSpace`, `patch`, `pole`, `roadMark`, `soundBarrier`, `streetLamp`, `trafficIsland`, `tree`, and `vegetation` are **not** supported. +- Enumeration literal `wind` deprecated in version 1.1 is **not** supported. + +#### ModifyRule + +- Class `ModifyRule` deprecated in version 1.3 is still supported. + +#### ObjectController + +- Property `name` is ignored. + +#### OpenScenarioCategory + +- The simulator reads `Storyboard` in XML as property `ScenarioDefinition` +- The simulator reads `Catalog` in XML as property `CatalogDefinition` +- The simulator reads `ParameterValueDistribution` in XML as property `ParameterValueDistributionDefinition` + +#### ParameterAction + +- Class `ParameterAction` deprecated in version 1.2 is still supported. + +#### ParameterAddValueRule + +- Class `ParameterAddValueRule` deprecated in version 1.2 is still supported. + +#### ParameterModifyAction + +- Class `ParameterModifyAction` deprecated in version 1.2 is still supported. + +#### ParameterMultiplyByValueRule + +- Class `ParameterMultiplyByValueRule` deprecated in version 1.2 is still supported. + +#### ParameterSetAction + +- Class `ParameterSetAction` deprecated in version 1.2 is still supported. +- Class `ParameterSetAction` cannot handle parameters of type `DataTime`. + +#### ParameterType + +- Enumeration literal `integer` deprecated in version 1.2 is **not** supported. + +#### Pedestrian + +- Property `role` is ignored. + - The simulator does not take into account `role`. +- Property `model` deprecated version 1.1 is ignored but mandatory. + - Maybe this is simulator bug and need to be fixed. + +#### PedestrianCategory + +- Enumeration literals `wheelchar` and `animal` are **not** supported. + +#### Phase + +- Property `TrafficSignalGroupState` created in version 1.2 is ignored. + +#### Position + +- Properties `RoadPosition`, `RelativeRoadPosition`, `RelativeLanePosition`, `RoutePosition`, `GeoPosition`, and `TrajectoryPosition` are **not** supported. + +#### Precipitation + +- Property `intensity` deprecated in version 1.1 is still supported. + +#### Priority + +- Enumeration literal `override` created in version 1.2 is **not** supported. +- Enumeration literal `overwrite` deprecated in version 1.2 is supported. + +#### PrivateAction + +- Property `VisibilityAction`, `SynchronizeAction` and `ActivateControllerAction` are **not** supported. + +#### Properties + +- Property `CustomContent` is ignored. + - The simulator does not take into account `CustomContent`. + +#### ReachPositionCondition + +- Class `ReachPositionCondition` deprecated in version 1.2 is still supported. +- Property `Position` of types `RoadPosition`, `RelativeRoadPosition`, `RelativeLanePosition`, `RoutePosition`, `GeoPosition`, and `TrajectoryPosition` are **not** supported. + +#### ReferenceContext + +- Enumeration literal `absolute` is **not** supported. -### Conditions +#### RelativeDistanceCondition -| Name | Support Status | Limitations | OpenSCENARIO changes | -|:----------------------------------------------------------------|:--------------:|:---------------------------------------------|----------------------| -| ByEntityCondition.EntityCondition.**EndOfRoadCondition** | Unsupported | | | -| ByEntityCondition.EntityCondition.**CollisionCondition** | ✔ | See [here](#collisioncondition) | | -| ByEntityCondition.EntityCondition.**OffroadCondition** | Unsupported | | | -| ByEntityCondition.EntityCondition.**TimeHeadwayCondition** | ✔ | See [here](#timeheadwaycondition) | | -| ByEntityCondition.EntityCondition.**TimeToCollisionCondition** | Unsupported | | | -| ByEntityCondition.EntityCondition.**AccelerationCondition** | ✔ | No | | -| ByEntityCondition.EntityCondition.**StandStillCondition** | ✔ | No | | -| ByEntityCondition.EntityCondition.**SpeedCondition** | ✔ | No | | -| ByEntityCondition.EntityCondition.**RelativeSpeedCondition** | Unsupported | | | -| ByEntityCondition.EntityCondition.**TraveledDistanceCondition** | Unsupported | | | -| ByEntityCondition.EntityCondition.**ReachPositionCondition** | ✔ | See [here](#reachpositioncondition) | deprecated from v1.2 | -| ByEntityCondition.EntityCondition.**DistanceCondition** | ✔ | See [here](#distancecondition) | | -| ByEntityCondition.EntityCondition.**RelativeDistanceCondition** | ✔ | | | -| ByValueCondition.**ParameterCondition** | ✔ | | | -| ByValueCondition.**TimeOfDayCondition** | Unsupported | | | -| ByValueCondition.**SimulationTimeCondition** | ✔ | No | | -| ByValueCondition.**StoryboardElementStateCondition** | ✔ | See [here](#storyboardelementstatecondition) | | -| ByValueCondition.**UserDefinedValueCondition** | ✔ | | | -| ByValueCondition.**TrafficSignalCondition** | ✔ | | | -| ByValueCondition.**TrafficSignalControllerCondition** | ✔ | | | -| ByValueCondition.**VariableCondition** | Unsupported | | created in v1.2 | +- Property `Position` of types `RoadPosition`, `RelativeRoadPosition`, `RelativeLanePosition`, `RoutePosition`, `GeoPosition`, and `TrajectoryPosition` are **not** supported. +- Not all combinations of properties for distance calculation are supported. Supported combinations are listed below: + | coordinateSystem | relativeDistanceType | routingAlgorithm | freespace | + |:----------------:|:--------------------:|:----------------:|:---------:| + | entity | euclidianDistance | undefined | false | + | entity | euclidianDistance | undefined | true | + | entity | lateral | undefined | false | + | entity | lateral | undefined | true | + | entity | longitudinal | undefined | false | + | entity | longitudinal | undefined | true | + | lane | lateral | undefined | false | + | lane | lateral | undefined | true | + | lane | longitudinal | undefined | false | + | lane | longitudinal | undefined | true | + | lane | lateral | shortest | false | + | lane | lateral | shortest | true | + | lane | longitudinal | shortest | false | + | lane | longitudinal | shortest | true | -## Limitations +#### RelativeDistanceType -### ParameterSetAction +- Enumeration literal `cartesianDistance` deprecated in version 1.1 is **not** supported. -- Currently, ParameterSetAction cannot handle `dateTime` type parameters. +#### RoadNetwork -### CustomCommandAction -#### WalkStraightAction -- This action is a temporary feature until `FollowTrajectoryAction` is implemented. -- This action cannot be used in combination with `AcquirePositionAction` because `WalkStraightAction` just makes a pedestrian NPC go straight without a destination. +- Property `UsedArea` is ignored. +#### RouteStrategy -### SpeedAction +- Enumeration literals `fastest`, `leastIntersections` and `random` are **not** supported. -- The implementation of type [TransitionDynamics](#transitiondynamics) for element `SpeedActionDynamics` is incomplete and - **SpeedActionDynamics.dynamicsDimension is ignored**. +#### RoutingAction -### LaneChangeAction +- Property `RandomRouteAction` created in version 1.3 is **not** supported. -- The implementation of type [TransitionDynamics](#transitiondynamics) for element `LaneChangeActionDynamics` and type [LaneChangeTarget](#lanechangetarget) for element `LaneChangeTarget` are incomplete. +#### ScenarioDefinition -### TeleportAction - -- Currently, **only LanePosition** can be specified for element of - TeleportAction. - -### FollowTrajectoryAction -- Currently, the action handles only "[followingMode](https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/FollowingMode.html)" attribute set to `position` mode. - -| followingMode | Status | -|:--------------|:-----------:| -| position | ✔ | -| follow | Unsupported | - -- Currently, the action only supports [Trajectory](https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/Trajectory.html) with a [Polyline](https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/Shape.html) shape. - -| Element | Status | -|:---------|:----------:| -| Polyline | ✔ | -| Clothoid | Unsupported| -| Nurbs | Unsupported| - -### AcquirePositionAction - -- Currently, **only LanePosition** can be specified for element of - AcquirePositionAction. - -### CollisionCondition +- Property `VariableDeclarations` created in version 1.2 is ignored. +- Property `MonitorDeclarations` created in version 1.3 is ignored. -- Currently, **only EntityRef** can be specified for element of - CollisionCondition. +#### Shape -### TimeHeadwayCondition +- Properties `Clothoid` and `Nurbs` are **not** supported. +- Property `ClothoidSpline` created in version 1.3 is **not** supported. -- Currently, the values of attribute "freespace" and "alongRoute" are ignored and always behave as if freespace="false" and alongRoute="true" were specified. +#### SpeedAction -### ReachPositionCondition +- Specifying `time` or `distance` for `SpeedActionDynamics.dynamicsDimension` is **not** supported. + - Simulator may lead to an undefined behavior if `time` or `distance` is specified. +- Specifying `cubic` for `SpeedActionDynamics.dynamicsShape` is **not** supported. + - Simulator may lead to an undefined behavior if `cubic` is specified. -- Currently, **only LanePosition and WorldPosition** can be specified for the element of ReachPositionCondition. +#### SpeedCondition -### DistanceCondition +- Property `direction` is ignored. + - The simulator behaves as if `direction` is not given. -- Currently, the values of attribute "alongRoute" is ignored and always behave as if alongRoute="false" was specified. -- Currently, **only LanePosition and WorldPosition** can be specified for the element of Position of DistanceCondition. +#### StochasticDistributionType -### StoryboardElementStateCondition +- Property `LogNormalDistribution` created in version 1.3 is **not** supported. -- Currently, a feature called "name prefix" (in [OpenSCENARIO User Guide 3.1.2. Naming](https://releases.asam.net/OpenSCENARIO/1.0.0/ASAM_OpenSCENARIO_BS-1-2_User-Guide_V1-0-0.html#_general_concepts)) is unsupported. +#### StoryboardElementStateCondition -Instead, our interpreter implements lexical scoping. -See also section [Scoping](#scoping). +- [name prefix](https://releases.asam.net/OpenSCENARIO/1.0.0/ASAM_OpenSCENARIO_BS-1-2_User-Guide_V1-0-0.html#:~:text=A%20name%20prefix%20,new%20name%20reference.) in OpenSCENARIO User Guide 3.1.2. is **not** supported. + - The interpreter uses lexical scope instead. See [Scoping](#Scoping) for more details. -### TransitionDynamics +#### Sun -- The implementation of type [DynamicsShape](#dynamicsshape) for attribute dynamicsShape is incomplete. +- Property `intensity` deprecated in version 1.2 is still supported. -| Name | Type | Status | -|:------------------|:--------------------------------|:----------:| -| dynamicsShape | [DynamicsShape](#dynamicsshape) | Incomplete | -| value | Double | ✔ | -| dynamicsDimension | DynamicsDimension | ✔ | +#### TeleportAction -### DynamicsShape +- Property `Position` of types `RoadPosition`, `RelativeRoadPosition`, `RelativeLanePosition`, `RoutePosition`, `GeoPosition`, and `TrajectoryPosition` are **not** supported. -- Currently, only `linear` and `step` are implemented for values of this enumeration. - If you specify `cubic` and `sinusoidal`, you will get an ImplementationFault. +#### TimeHeadwayCondition -| Value | Status | -|:-----------|:-----------:| -| linear | ✔ | -| cubic | Unsupported | -| sinusoidal | Unsupported | -| step | ✔ | +- Properties `coordinateSystem` and `relativeDistanceType` created in version 1.1 is ignored. +- Property `alongRoute` deprecated in version 1.1 is ignored. +- Property `freespace` is ignored. + - The simulator behaves as if `freespace` is `false`. -### LaneChangeTarget +#### TransitionDynamics -- Currently, only AbsoluteTargetLane is implemented for element of this type. - If you specify RelativeTargetLane, you will get a SyntaxError. +- Property `followingMode` created in version 1.2 is ignored. -| Element | Status | -|:-------------------|:-----------:| -| AbsoluteTargetLane | ✔ | -| RelativeTargetLane | Unsupported | +#### TriggeringEntitiesRule -### Position +- Enumeration literal `none` is added as TIER IV extension. -- Currently, only WorldPosition and LanePosition are implemented for an element of this type. +#### Vehicle -| Element | Status | -|:-----------------------|:-----------:| -| WorldPosition | ✔ | -| RelativeWorldPosition | Unsupported | -| RelativeObjectPosition | ✔ | -| RoadPosition | Unsupported | -| RelativeRoadPosition | Unsupported | -| LanePosition | ✔ | -| RelativeLanePosition | Unsupported | -| RoutePosition | Unsupported | +- Property `role` created in version 1.1 is ignored. + - The simulator does not take into account `role`. +- Property `mass` is ignored. + - The simulator behaves as if `mass` is not given. From 93b86bc1b6d130f988643859789ce3d8e1d3f9f4 Mon Sep 17 00:00:00 2001 From: Shota Minami Date: Thu, 25 Jul 2024 01:34:05 +0000 Subject: [PATCH 041/304] Fix typo --- docs/developer_guide/OpenSCENARIOSupport.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/developer_guide/OpenSCENARIOSupport.md b/docs/developer_guide/OpenSCENARIOSupport.md index b8b71f4628f..6cac4e739c0 100644 --- a/docs/developer_guide/OpenSCENARIOSupport.md +++ b/docs/developer_guide/OpenSCENARIOSupport.md @@ -175,7 +175,7 @@ Calculates the relative angle between the orientation of `` and the Calculates the relative angle between the orientation of `` and the direction at the position specified by `` on ``. -#### ROS2 Topic Condition +#### ROS 2 Topic Condition `scenario_simulator_v2` can read values from another ROS 2 node to a scenario through ROS 2 topics. `name` field should be filled with the name of the ROS 2 topic like below. From bc92069b7e16c823f4a3acb1126e7b7408c330ea Mon Sep 17 00:00:00 2001 From: Shota Minami Date: Thu, 25 Jul 2024 01:36:30 +0000 Subject: [PATCH 042/304] Fix typo --- docs/developer_guide/OpenSCENARIOSupport.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/developer_guide/OpenSCENARIOSupport.md b/docs/developer_guide/OpenSCENARIOSupport.md index 6cac4e739c0..ebe4b2c849b 100644 --- a/docs/developer_guide/OpenSCENARIOSupport.md +++ b/docs/developer_guide/OpenSCENARIOSupport.md @@ -727,7 +727,7 @@ Currently, the only way to know the result of the simulation is by viewing the s #### PedestrianCategory -- Enumeration literals `wheelchar` and `animal` are **not** supported. +- Enumeration literals `wheelchair` and `animal` are **not** supported. #### Phase From 441ed76896cee76779c007a0e3df375a9b072bb1 Mon Sep 17 00:00:00 2001 From: Shota Minami Date: Thu, 25 Jul 2024 01:39:11 +0000 Subject: [PATCH 043/304] Add `Cmyk` to custom_spell.json --- .github/workflows/custom_spell.json | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/custom_spell.json b/.github/workflows/custom_spell.json index 32db063ea4e..cecc85a3aab 100644 --- a/.github/workflows/custom_spell.json +++ b/.github/workflows/custom_spell.json @@ -6,6 +6,7 @@ "Canonicalized", "canonicalizing", "classname", + "Cmyk", "Dawid", "DBOOST", "DBUILD", From 74da50b8ba8563e22da04c1e45d057b944db31f4 Mon Sep 17 00:00:00 2001 From: Shota Minami Date: Thu, 25 Jul 2024 01:41:50 +0000 Subject: [PATCH 044/304] Change section title --- docs/developer_guide/OpenSCENARIOSupport.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/docs/developer_guide/OpenSCENARIOSupport.md b/docs/developer_guide/OpenSCENARIOSupport.md index ebe4b2c849b..26012086727 100644 --- a/docs/developer_guide/OpenSCENARIOSupport.md +++ b/docs/developer_guide/OpenSCENARIOSupport.md @@ -220,7 +220,8 @@ Within the scenario, you can end the scenario simulation with a status of either > `exitSuccess` and `exitFailure` terminate the simulation immediately without any state transitions in the lifecycle of a `StoryboardElement`. This means there is no way to detect simulations terminated by `exitSuccess` or `exitFailure` from within the scenario using conditions like `StoryboardElementStateCondition`. Currently, the only way to know the result of the simulation is by viewing the status string printed to standard output. However, this method may change in the future. -## Conformance + +## Standards Supported by `scenario_simulator_v2` | Name | Supported Version | Detail | |:---------------------------------------------|:-----------------:|:------------------------------------------:| From 82f6b2517c4e46b921c2cf750d71613488362e8d Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 25 Jul 2024 17:26:14 +0900 Subject: [PATCH 045/304] Update ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml to check RelativeClearanceCondition in more detail --- ...yCondition.RelativeClearanceCondition.yaml | 174 ++++++++++-------- 1 file changed, 101 insertions(+), 73 deletions(-) diff --git a/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml index 9311a799ac5..5dd00cce153 100644 --- a/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml +++ b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml @@ -20,13 +20,13 @@ OpenSCENARIO: CatalogReference: &SAMPLE_VEHICLE catalogName: sample_vehicle entryName: sample_vehicle - - name: car_1 + - name: car_same_front CatalogReference: *SAMPLE_VEHICLE - - name: car_2 + - name: car_right_front CatalogReference: *SAMPLE_VEHICLE - - name: car_3 + - name: car_right_back CatalogReference: *SAMPLE_VEHICLE - - name: car_4 + - name: car_same_back CatalogReference: *SAMPLE_VEHICLE Storyboard: Init: @@ -39,7 +39,7 @@ OpenSCENARIO: LanePosition: &EGO_LANE_POSITION roadId: "" laneId: 34513 - s: 10 + s: 15 offset: 0 Orientation: type: relative @@ -55,7 +55,7 @@ OpenSCENARIO: SpeedActionTarget: AbsoluteTargetSpeed: value: 0 - - entityRef: car_1 + - entityRef: car_same_front PrivateAction: - TeleportAction: Position: @@ -63,7 +63,7 @@ OpenSCENARIO: << : *EGO_LANE_POSITION s: 20 - LongitudinalAction: *SPEED_ACTION_ZERO - - entityRef: car_2 + - entityRef: car_right_front PrivateAction: - TeleportAction: Position: @@ -72,22 +72,22 @@ OpenSCENARIO: laneId: 34462 s: 20 - LongitudinalAction: *SPEED_ACTION_ZERO - - entityRef: car_3 + - entityRef: car_right_back PrivateAction: - TeleportAction: Position: LanePosition: << : *EGO_LANE_POSITION laneId: 34462 - s: 5 + s: 10 - LongitudinalAction: *SPEED_ACTION_ZERO - - entityRef: car_4 + - entityRef: car_same_back PrivateAction: - TeleportAction: Position: LanePosition: << : *EGO_LANE_POSITION - s: 5 + s: 10 - LongitudinalAction: *SPEED_ACTION_ZERO Story: - name: story @@ -103,17 +103,17 @@ OpenSCENARIO: Maneuver: - name: maneuver Event: - - name: success + - name: failure priority: parallel Action: - name: "" UserDefinedAction: CustomCommandAction: - type: exitSuccess + type: exitFailure StartTrigger: ConditionGroup: - Condition: - - name: "" + - name: "check all car is in range(not clear) means the condition is false" delay: 0 conditionEdge: none ByEntityCondition: @@ -123,13 +123,12 @@ OpenSCENARIO: - entityRef: ego EntityCondition: RelativeClearanceCondition: - EntityRef: - - entityRef: car_1 - distanceBackward: 0 - distanceForward: 9 + distanceBackward: 7 + distanceForward: 7 freeSpace: false oppositeLanes: false - - name: "" + - Condition: + - name: "check not all car is in range(not clear) means the condition is false" delay: 0 conditionEdge: none ByEntityCondition: @@ -139,87 +138,116 @@ OpenSCENARIO: - entityRef: ego EntityCondition: RelativeClearanceCondition: - EntityRef: - - entityRef: car_1 - distanceBackward: 0 - distanceForward: 9 + distanceBackward: 7 + distanceForward: 0 freeSpace: false oppositeLanes: false - - name: "" + - Condition: + - name: "timeout" + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 1 + rule: greaterThan + - name: success + priority: parallel + Action: + - name: "" + UserDefinedAction: + CustomCommandAction: + type: exitSuccess + StartTrigger: + ConditionGroup: + - Condition: + - name: "check clear with all cars in narrower longitudinal range" delay: 0 conditionEdge: none ByEntityCondition: TriggeringEntities: triggeringEntitiesRule: all EntityRef: - - entityRef: car_3 - - entityRef: car_4 + - entityRef: ego EntityCondition: - RelativeDistanceCondition: - coordinateSystem: lane - entityRef: ego - freespace: false # True: distance is measured between closest bounding box points. False: reference point distance is used. - relativeDistanceType: longitudinal - rule: equalTo - value: 10 - - name: "" + RelativeClearanceCondition: + distanceBackward: 3 + distanceForward: 3 + freeSpace: false + oppositeLanes: false + - name: "check back is clear with front cars" delay: 0 conditionEdge: none ByEntityCondition: TriggeringEntities: triggeringEntitiesRule: all EntityRef: - - entityRef: car_1 - - entityRef: car_3 + - entityRef: ego EntityCondition: - RelativeDistanceCondition: - coordinateSystem: lane - entityRef: ego - freespace: false # True: distance is measured between closest bounding box points. False: reference point distance is used. - relativeDistanceType: lateral - rule: equalTo - value: -1.5 - - name: "" + RelativeClearanceCondition: + EntityRef: + - entityRef: car_same_front + - entityRef: car_right_front + distanceBackward: 7 + distanceForward: 0 + freeSpace: false + oppositeLanes: false + - name: "check front is clear with back cars" delay: 0 conditionEdge: none ByEntityCondition: TriggeringEntities: triggeringEntitiesRule: all EntityRef: - - entityRef: car_2 - - entityRef: car_4 + - entityRef: ego EntityCondition: - RelativeDistanceCondition: - coordinateSystem: lane - entityRef: ego - freespace: false # True: distance is measured between closest bounding box points. False: reference point distance is used. - relativeDistanceType: lateral - rule: equalTo - value: 0.5 - - name: "" + RelativeClearanceCondition: + EntityRef: + - entityRef: car_right_back + - entityRef: car_same_back + distanceBackward: 0 + distanceForward: 7 + freeSpace: false + oppositeLanes: false + - name: "check right is clear with cars in the same lane" delay: 0 conditionEdge: none - ByValueCondition: - SimulationTimeCondition: - value: 10 - rule: greaterThan - - name: failure - priority: parallel - Action: - - name: "" - UserDefinedAction: - CustomCommandAction: - type: exitFailure - StartTrigger: - ConditionGroup: - - Condition: - - name: "" + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + EntityRef: + - entityRef: car_same_front + - entityRef: car_same_back + distanceBackward: 7 + distanceForward: 7 + freeSpace: false + oppositeLanes: false + RelativeLaneRange: + - from: -1 + to: -1 + - name: "check same lane is clear with cars in the right lane" delay: 0 conditionEdge: none - ByValueCondition: - SimulationTimeCondition: - value: 20 - rule: greaterThan + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + EntityRef: + - entityRef: car_right_front + - entityRef: car_right_back + distanceBackward: 7 + distanceForward: 7 + freeSpace: false + oppositeLanes: false + RelativeLaneRange: + - from: 0 + to: 0 StartTrigger: ConditionGroup: - Condition: From 8b3f33227019847b0114c8ada53e8b3ff76da87b Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 25 Jul 2024 17:34:30 +0900 Subject: [PATCH 046/304] fix condition logic of RelativeClearanceCondition --- .../syntax/relative_clearance_condition.cpp | 20 ++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index 6a7c556aa11..cdfcabea439 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -34,8 +34,15 @@ RelativeClearanceCondition::RelativeClearanceCondition( entity_refs([&]() { auto entities = readElements("EntityRef", node, scope); if (entities.empty()) { - for (const auto & [name, entity] : *global().entities) { - entities.emplace_back(name); + for (const auto & entity : *global().entities) { + if ( + std::find_if( + triggering_entities.entity_refs.begin(), triggering_entities.entity_refs.end(), + [&](const auto & triggering_entity) { + return triggering_entity.name() == entity.first; + }) == triggering_entities.entity_refs.end()) { + entities.emplace_back(name); + } } } return entities; @@ -61,8 +68,9 @@ auto RelativeClearanceCondition::description() const -> String auto RelativeClearanceCondition::evaluate() -> Object { return asBoolean(triggering_entities.apply([&](const auto & triggering_entity) { - for (const auto & entity : entity_refs) { + return std::all_of(entity_refs.begin(), entity_refs.end(), [&](const auto & entity) { auto is_in_lateral_range = [&]() { + // The lanes to be checked to left and right of the triggering entity (positive to the y-axis). If omitted: all lanes are checked. if (relative_lane_range.empty()) { return true; } else { @@ -85,8 +93,10 @@ auto RelativeClearanceCondition::evaluate() -> Object } }; - return is_in_lateral_range() && is_in_longitudinal_range(); - } + auto lat_ok = is_in_lateral_range(); + auto lon_ok = is_in_longitudinal_range(); + return not(lat_ok && lon_ok); + }); })); } From 39594fd362c91b32514863d4ee02b2d4dcaaf69a Mon Sep 17 00:00:00 2001 From: Release Bot Date: Fri, 26 Jul 2024 06:05:55 +0000 Subject: [PATCH 047/304] Bump version of scenario_simulator_v2 from version 3.3.0 to version 3.4.0 --- common/math/arithmetic/CHANGELOG.rst | 3 +++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 3 +++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 3 +++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 3 +++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 3 +++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 3 +++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 3 +++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 3 +++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 3 +++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 3 +++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 3 +++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_example/package.xml | 2 +- openscenario/openscenario_interpreter_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor/package.xml | 2 +- openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 3 +++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 3 +++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 3 +++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../real_time_factor_control_rviz_plugin/CHANGELOG.rst | 3 +++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 3 +++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 3 +++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 3 +++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 3 +++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 3 +++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 7 +++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 3 +++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 3 +++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 7 +++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 129 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 991cd182db2..f02dfd36e72 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 920c1f5df8a..0898ae893af 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.3.0 + 3.4.0 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 b6182992b5d..c6a59c5c4bf 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index a6521ca64fa..05964560f14 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.3.0 + 3.4.0 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index e1ddf9f9b3b..c5e3be0275d 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 5239189d015..e67f5d199fa 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.3.0 + 3.4.0 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 0258b39f883..b9ee3aef00e 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index fcf3f77b8af..70da1e4a78b 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.3.0 + 3.4.0 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 b6124b6bb2a..e02e471460d 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 87e6dbcc8de..56e8f7bfcd6 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.3.0 + 3.4.0 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 9b7ec240312..732dcf2f3d3 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 0470dd272bb..9fd05b96c92 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.3.0 + 3.4.0 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 4501671a247..f6cfac2ba57 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 1b54a660046..f597e89ed18 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.3.0 + 3.4.0 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 46d89ea6249..016de2404ea 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index ce4b1ededfc..b51c782f6c7 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.3.0 + 3.4.0 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 22282cbb198..aeb9fab9012 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,9 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index acbf5dd783f..884f93aaa43 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.3.0 + 3.4.0 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 bc906333fd7..2f3d85c8d6a 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 255412c1756..2b6179b986b 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.3.0 + 3.4.0 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 39a4d45eb67..3b045468fa0 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 5fa44633a10..74baf0143e7 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.3.0 + 3.4.0 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 c21bae1b89e..466ed93a195 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,14 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ +* Merge pull request `#1325 `_ from tier4/feature/interpreter/lidar-configuration + Feature/interpreter/lidar configuration +* Add a test scenario for `ObjectController`'s pseudo LiDAR property +* Update ControllerAction to support some new properties related to LiDAR +* Contributors: Masaya Kataoka, yamacir-kit + 3.3.0 (2024-07-23) ------------------ * Merge pull request `#1059 `_ from tier4/feature/interpreter/entity_selection diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index ffdbdffdd2f..24e6778cf32 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.3.0 + 3.4.0 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 901a263cbcc..a2f4f8b845a 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 21895c9830b..2b6f6b35019 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.3.0 + 3.4.0 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 0fe321e7b1f..ccf9beef780 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index f61976af7e3..3db1ab61b94 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.3.0 + 3.4.0 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 9c9fa531704..158a7af0db8 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 9cf35811f3b..4a0a90ea450 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.3.0 + 3.4.0 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 7bbbed269b1..726dfc7eb28 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 708ee18849f..1a33424fc06 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.3.0 + 3.4.0 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 c0a9eaebdc8..8f89eba97a6 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 8e6d26cf040..f37d57df7f2 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.3.0 + 3.4.0 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 1a1e1c68113..1d6b032c061 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,9 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index e4494bd1ce3..96a78c145e9 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.3.0 + 3.4.0 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 98236e8269a..1dd9df87bd5 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 2ec12cb34a6..8c97d64aaf2 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.3.0 + 3.4.0 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 7e6e0955728..297ef0b0971 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 +21,9 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection 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 dcec7f66a56..d89a824aa9b 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 - 3.3.0 + 3.4.0 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 e2c97861495..b6ba188ebe7 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 69374013ad2..73ecf3a5149 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.3.0 + 3.4.0 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 dc80b692e40..b1581fb72d7 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index abfc5b34317..06c8165220b 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.3.0 + 3.4.0 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 f5bb4e87dde..7b0d77c9509 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 1f09ab698fc..97d5240f53d 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.3.0 + 3.4.0 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 fa1bc752f42..04758f08c86 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 1e0f85b5aba..dbb6b9b090a 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.3.0 + 3.4.0 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 8839262aa35..ed933162281 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 6952140fbc5..75b6c33cd3b 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.3.0 + 3.4.0 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 bfc883af579..fabffcfe75c 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ +* Merge pull request `#1325 `_ from tier4/feature/interpreter/lidar-configuration + Feature/interpreter/lidar configuration +* Update `MiscObjectEntity` to display with a magenta bounding box +* Contributors: Masaya Kataoka, yamacir-kit + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index c07521057ff..087d6eeaf26 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.3.0 + 3.4.0 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 3c3effd653d..bfe7977a389 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 6c1f3fee0ea..3391bbe7a1b 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.3.0 + 3.4.0 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 26f3f6934c3..8479b47387b 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ + 3.3.0 (2024-07-23) ------------------ * Merge branch 'master' into feature/interpreter/entity_selection diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index e7b7b0f52a8..d272ee3bc68 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.3.0 + 3.4.0 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 4ef9428c510..1f8fc2ce7c3 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,13 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.0 (2024-07-26) +------------------ +* Merge pull request `#1325 `_ from tier4/feature/interpreter/lidar-configuration + Feature/interpreter/lidar configuration +* Add a test scenario for `ObjectController`'s pseudo LiDAR property +* Contributors: Masaya Kataoka, yamacir-kit + 3.3.0 (2024-07-23) ------------------ * Merge pull request `#1059 `_ from tier4/feature/interpreter/entity_selection diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 0e6b321b352..12be8f20a1e 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.3.0 + 3.4.0 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 546337330c96302f55beefeb1932f7fc7f14ea06 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 26 Jul 2024 15:38:39 +0900 Subject: [PATCH 048/304] Implement switching by relative heading of triggering_entity in RelativeClearanceCondition --- .../syntax/relative_clearance_condition.hpp | 4 +- .../syntax/relative_clearance_condition.cpp | 60 ++++++++++++------- 2 files changed, 40 insertions(+), 24 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp index e0db2617c1f..5140e728818 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp @@ -40,7 +40,9 @@ inline namespace syntax */ -struct RelativeClearanceCondition : private Scope, private SimulatorCore::ConditionEvaluation +struct RelativeClearanceCondition : private Scope, + private SimulatorCore::ConditionEvaluation, + private SimulatorCore::NonStandardOperation { /* Longitudinal distance behind reference point of the entity to be checked along lane centerline of the current lane of the triggering entity. Orientation of entity towards lane determines backward direction. Velocity of entity is irrelevant. Unit: [m]. Range: [0..inf[. Default if omitted: 0 diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index cdfcabea439..54440096543 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -68,30 +68,44 @@ auto RelativeClearanceCondition::description() const -> String auto RelativeClearanceCondition::evaluate() -> Object { return asBoolean(triggering_entities.apply([&](const auto & triggering_entity) { - return std::all_of(entity_refs.begin(), entity_refs.end(), [&](const auto & entity) { - auto is_in_lateral_range = [&]() { - // The lanes to be checked to left and right of the triggering entity (positive to the y-axis). If omitted: all lanes are checked. - if (relative_lane_range.empty()) { - return true; - } else { - auto relative_lateral_lane = - evaluateLateralRelativeLanes(triggering_entity, entity, RoutingAlgorithm::shortest); - return std::any_of( - relative_lane_range.begin(), relative_lane_range.end(), [&](const auto & range) { - return range.from <= relative_lateral_lane && range.to >= relative_lateral_lane; - }); - } - }; + return std::all_of( + entity_refs.begin(), entity_refs.end(), + [&, is_back = + (std::abs(evaluateRelativeHeading(triggering_entity)) > M_2_PI)](const auto & entity) { + auto is_in_lateral_range = [&]() { + // The lanes to be checked to left and right of the triggering entity (positive to the y-axis). If omitted: all lanes are checked. + if (relative_lane_range.empty()) { + return true; + } else { + if (auto relative_lateral_lane = evaluateLateralRelativeLanes( + triggering_entity, entity, RoutingAlgorithm::shortest); + relative_lateral_lane.has_value()) { + if (is_back) { + relative_lateral_lane.value() = -relative_lateral_lane.value(); + } + return std::any_of( + relative_lane_range.begin(), relative_lane_range.end(), [&](const auto & range) { + return range.from <= relative_lateral_lane.value() && + range.to >= relative_lateral_lane.value(); + }); + } else { + throw common::Error("Relative lateral lane is not available"); + } + } + }; - auto is_in_longitudinal_range = [&]() { - auto relative_lane_position = - getRelativeLanePosition(triggering_entity, entity, free_space); - if (relative_lane_position.s < 0) { - return std::abs(relative_lane_position.s) <= distance_backward; - } else { - return relative_lane_position.s <= distance_forward; - } - }; + auto is_in_longitudinal_range = [&]() { + auto relative_longitudinal = + getRelativeLanePosition(triggering_entity, entity, free_space).s; + if (is_back) { + relative_longitudinal = -relative_longitudinal; + } + if (relative_longitudinal < 0) { + return std::abs(relative_longitudinal) <= distance_backward; + } else { + return relative_longitudinal <= distance_forward; + } + }; auto lat_ok = is_in_lateral_range(); auto lon_ok = is_in_longitudinal_range(); From c206ff14b6dc4c9c3adfe0bf35d50b8bae1b9cba Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 26 Jul 2024 15:39:41 +0900 Subject: [PATCH 049/304] Update ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml to be a better test --- ...EntityCondition.RelativeClearanceCondition.yaml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml index 5dd00cce153..da97625a8af 100644 --- a/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml +++ b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml @@ -61,7 +61,7 @@ OpenSCENARIO: Position: LanePosition: &CAR_1_LANE_POSITION << : *EGO_LANE_POSITION - s: 20 + s: 25 - LongitudinalAction: *SPEED_ACTION_ZERO - entityRef: car_right_front PrivateAction: @@ -70,7 +70,7 @@ OpenSCENARIO: LanePosition: &CAR_2_LANE_POSITION << : *EGO_LANE_POSITION laneId: 34462 - s: 20 + s: 25 - LongitudinalAction: *SPEED_ACTION_ZERO - entityRef: car_right_back PrivateAction: @@ -124,7 +124,7 @@ OpenSCENARIO: EntityCondition: RelativeClearanceCondition: distanceBackward: 7 - distanceForward: 7 + distanceForward: 12 freeSpace: false oppositeLanes: false - Condition: @@ -171,7 +171,7 @@ OpenSCENARIO: EntityCondition: RelativeClearanceCondition: distanceBackward: 3 - distanceForward: 3 + distanceForward: 8 freeSpace: false oppositeLanes: false - name: "check back is clear with front cars" @@ -205,7 +205,7 @@ OpenSCENARIO: - entityRef: car_right_back - entityRef: car_same_back distanceBackward: 0 - distanceForward: 7 + distanceForward: 12 freeSpace: false oppositeLanes: false - name: "check right is clear with cars in the same lane" @@ -222,7 +222,7 @@ OpenSCENARIO: - entityRef: car_same_front - entityRef: car_same_back distanceBackward: 7 - distanceForward: 7 + distanceForward: 12 freeSpace: false oppositeLanes: false RelativeLaneRange: @@ -242,7 +242,7 @@ OpenSCENARIO: - entityRef: car_right_front - entityRef: car_right_back distanceBackward: 7 - distanceForward: 7 + distanceForward: 12 freeSpace: false oppositeLanes: false RelativeLaneRange: From f785a8b173248aca6d00e59b595e1b719079d713 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 26 Jul 2024 15:39:53 +0900 Subject: [PATCH 050/304] Add ByEntityCondition.EntityCondition.RelativeClearanceCondition-back.yaml --- ...ition.RelativeClearanceCondition-back.yaml | 262 ++++++++++++++++++ 1 file changed, 262 insertions(+) create mode 100644 test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition-back.yaml diff --git a/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition-back.yaml b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition-back.yaml new file mode 100644 index 00000000000..2d6975cf0e4 --- /dev/null +++ b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition-back.yaml @@ -0,0 +1,262 @@ +OpenSCENARIO: + FileHeader: + revMajor: 0 + revMinor: 0 + date: "1970-01-01T09:00:00+09:00" + author: Kotaro Yoshimoto + description: "" + ParameterDeclarations: + ParameterDeclaration: [] + CatalogLocations: + VehicleCatalog: + Directory: + path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle + RoadNetwork: + LogicFile: + filepath: $(find-pkg-share kashiwanoha_map)/map + Entities: + ScenarioObject: + - name: ego + CatalogReference: &SAMPLE_VEHICLE + catalogName: sample_vehicle + entryName: sample_vehicle + - name: car_same_front + CatalogReference: *SAMPLE_VEHICLE + - name: car_right_front + CatalogReference: *SAMPLE_VEHICLE + - name: car_right_back + CatalogReference: *SAMPLE_VEHICLE + - name: car_same_back + CatalogReference: *SAMPLE_VEHICLE + Storyboard: + Init: + Actions: + Private: + - entityRef: ego + PrivateAction: + - TeleportAction: + Position: + LanePosition: &EGO_LANE_POSITION + roadId: "" + laneId: 34513 + s: 15 + offset: 0 + Orientation: + type: relative + h: 3.141592653589793 + p: 0 + r: 0 + - LongitudinalAction: &SPEED_ACTION_ZERO + SpeedAction: + SpeedActionDynamics: + dynamicsDimension: time + value: 0 + dynamicsShape: step + SpeedActionTarget: + AbsoluteTargetSpeed: + value: 0 + - entityRef: car_same_front + PrivateAction: + - TeleportAction: + Position: + LanePosition: &CAR_1_LANE_POSITION + << : *EGO_LANE_POSITION + s: 25 + - LongitudinalAction: *SPEED_ACTION_ZERO + - entityRef: car_right_front + PrivateAction: + - TeleportAction: + Position: + LanePosition: &CAR_2_LANE_POSITION + << : *EGO_LANE_POSITION + laneId: 34462 + s: 25 + - LongitudinalAction: *SPEED_ACTION_ZERO + - entityRef: car_right_back + PrivateAction: + - TeleportAction: + Position: + LanePosition: + << : *EGO_LANE_POSITION + laneId: 34462 + s: 10 + - LongitudinalAction: *SPEED_ACTION_ZERO + - entityRef: car_same_back + PrivateAction: + - TeleportAction: + Position: + LanePosition: + << : *EGO_LANE_POSITION + s: 10 + - LongitudinalAction: *SPEED_ACTION_ZERO + Story: + - name: story + Act: + - name: act + ManeuverGroup: + - maximumExecutionCount: 1 + name: maneuver_group + Actors: + selectTriggeringEntities: false + EntityRef: + - entityRef: ego + Maneuver: + - name: maneuver + Event: + - name: failure + priority: parallel + Action: + - name: "" + UserDefinedAction: + CustomCommandAction: + type: exitFailure + StartTrigger: + ConditionGroup: + - Condition: + - name: "check all car is in range(not clear) means the condition is false" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + distanceBackward: 12 + distanceForward: 7 + freeSpace: false + oppositeLanes: false + - Condition: + - name: "check not all car is in range(not clear) means the condition is false" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + distanceBackward: 0 + distanceForward: 7 + freeSpace: false + oppositeLanes: false + - Condition: + - name: "timeout" + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 1 + rule: greaterThan + - name: success + priority: parallel + Action: + - name: "" + UserDefinedAction: + CustomCommandAction: + type: exitSuccess + StartTrigger: + ConditionGroup: + - Condition: + - name: "check clear with all cars in narrower longitudinal range" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + distanceBackward: 8 + distanceForward: 3 + freeSpace: false + oppositeLanes: false + - name: "check back is clear with front cars" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + EntityRef: + - entityRef: car_same_front + - entityRef: car_right_front + distanceBackward: 0 + distanceForward: 7 + freeSpace: false + oppositeLanes: false + - name: "check front is clear with back cars" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + EntityRef: + - entityRef: car_right_back + - entityRef: car_same_back + distanceBackward: 12 + distanceForward: 0 + freeSpace: false + oppositeLanes: false + - name: "check right is clear with cars in the same lane" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + EntityRef: + - entityRef: car_same_front + - entityRef: car_same_back + distanceBackward: 12 + distanceForward: 7 + freeSpace: false + oppositeLanes: false + RelativeLaneRange: + - from: 1 + to: 1 + - name: "check same lane is clear with cars in the right lane" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: ego + EntityCondition: + RelativeClearanceCondition: + EntityRef: + - entityRef: car_right_front + - entityRef: car_right_back + distanceBackward: 12 + distanceForward: 7 + freeSpace: false + oppositeLanes: false + RelativeLaneRange: + - from: 0 + to: 0 + StartTrigger: + ConditionGroup: + - Condition: + - name: "" + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 0 + rule: greaterThan + StopTrigger: + ConditionGroup: [] From 63b7de91c68e57d6fb22a21c866d859f4fb65af3 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 26 Jul 2024 15:42:44 +0900 Subject: [PATCH 051/304] Fix copy bugs in RelativeClearanceCondition --- .../src/syntax/relative_clearance_condition.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index 54440096543..aaf0cdcaccb 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -41,7 +41,7 @@ RelativeClearanceCondition::RelativeClearanceCondition( [&](const auto & triggering_entity) { return triggering_entity.name() == entity.first; }) == triggering_entities.entity_refs.end()) { - entities.emplace_back(name); + entities.emplace_back(entity.first); } } } From 2ab48c3246ab886afa3453781ca9df3b5731e5c5 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 29 Jul 2024 14:28:06 +0900 Subject: [PATCH 052/304] apply linter --- .../src/syntax/relative_clearance_condition.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index aaf0cdcaccb..5d210b1f039 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -107,10 +107,10 @@ auto RelativeClearanceCondition::evaluate() -> Object } }; - auto lat_ok = is_in_lateral_range(); - auto lon_ok = is_in_longitudinal_range(); - return not(lat_ok && lon_ok); - }); + auto lat_ok = is_in_lateral_range(); + auto lon_ok = is_in_longitudinal_range(); + return not(lat_ok && lon_ok); + }); })); } From c66b6276d89a7b9557f59b274dca189604d1919d Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 29 Jul 2024 14:37:49 +0900 Subject: [PATCH 053/304] Add Integer::infinity function --- .../include/openscenario_interpreter/syntax/integer.hpp | 2 ++ openscenario/openscenario_interpreter/src/syntax/integer.cpp | 5 +++++ 2 files changed, 7 insertions(+) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/integer.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/integer.hpp index b074cf26ae6..7c8a00e37fc 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/integer.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/integer.hpp @@ -35,6 +35,8 @@ struct Integer explicit Integer(const std::string &); + static auto infinity() noexcept -> Integer; + auto operator+=(const double &) -> Integer &; auto operator*=(const double &) -> Integer &; diff --git a/openscenario/openscenario_interpreter/src/syntax/integer.cpp b/openscenario/openscenario_interpreter/src/syntax/integer.cpp index 2c7f55c03ea..f9632ec2624 100644 --- a/openscenario/openscenario_interpreter/src/syntax/integer.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/integer.cpp @@ -34,6 +34,11 @@ Integer::Integer(const std::string & s) } } +auto Integer::infinity() noexcept -> Integer +{ + return static_cast(std::numeric_limits::infinity()); +} + auto Integer::operator+=(const double & rhs) -> Integer & { data += rhs; From 2830cfd094287c1b6213013afed02c6ee69e3a3a Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 29 Jul 2024 14:38:44 +0900 Subject: [PATCH 054/304] Fix RelativeLaneRange to use default values in the specification --- .../openscenario_interpreter/syntax/relative_lane_range.hpp | 6 ++++++ .../src/syntax/relative_lane_range.cpp | 3 ++- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp index 7108b45bf2b..620e83ec807 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp @@ -33,8 +33,14 @@ inline namespace syntax */ struct RelativeLaneRange { + /* + The lower limit of the range. Range: [-inf, inf[. Default if omitted: -inf + */ const Integer from; + /* + The upper limit of the range. Range: ]-inf, inf]. Default if omitted: +inf + */ const Integer to; explicit RelativeLaneRange(const pugi::xml_node &, Scope &); diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp index c94ce16d95c..2911617b6bd 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp @@ -20,7 +20,8 @@ namespace openscenario_interpreter inline namespace syntax { RelativeLaneRange::RelativeLaneRange(const pugi::xml_node & node, Scope & scope) -: from(readAttribute("from", node, scope)), to(readAttribute("to", node, scope)) +: from(readAttribute("from", node, scope, -Integer::infinity())), + to(readAttribute("to", node, scope, Integer::infinity())) { } } // namespace syntax From 019bf2c2771eb058e4ed1f142d42f000e49b913c Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 29 Jul 2024 14:45:52 +0900 Subject: [PATCH 055/304] refactor: clean up includes in relative_lane_range.hpp --- .../openscenario_interpreter/syntax/relative_lane_range.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp index 620e83ec807..f6f94e9332e 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp @@ -16,8 +16,8 @@ #define OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_LANE_RANGE_HPP_ #include +#include #include -#include namespace openscenario_interpreter { From de4c942b8f2ce234b4a6bc95e457e7ed3df89558 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Mon, 29 Jul 2024 17:38:45 +0200 Subject: [PATCH 056/304] ref(behavior_tree): use CanonicalizedEntityStatus as shared_ptr inside BT and use ::set --- .../behavior_tree_plugin/action_node.hpp | 9 +- .../pedestrian/behavior_tree.hpp | 5 +- .../vehicle/behavior_tree.hpp | 3 +- .../behavior_tree_plugin/src/action_node.cpp | 86 ++++++++++--------- .../src/pedestrian/follow_lane_action.cpp | 13 +-- .../follow_polyline_trajectory_action.cpp | 24 +++--- .../src/pedestrian/pedestrian_action_node.cpp | 15 ++-- .../src/pedestrian/walk_straight_action.cpp | 5 +- .../follow_front_entity_action.cpp | 25 ++---- .../follow_lane_action.cpp | 16 ++-- .../move_backward_action.cpp | 17 ++-- .../stop_at_crossing_entity_action.cpp | 18 ++-- .../stop_at_stop_line_action.cpp | 22 ++--- .../stop_at_traffic_light_action.cpp | 18 ++-- .../follow_lane_sequence/yield_action.cpp | 18 ++-- .../follow_polyline_trajectory_action.cpp | 28 +++--- .../src/vehicle/lane_change_action.cpp | 49 ++++++----- .../src/vehicle/vehicle_action_node.cpp | 2 +- .../include/do_nothing_plugin/plugin.hpp | 15 ++-- simulation/do_nothing_plugin/src/plugin.cpp | 19 ++-- .../behavior/behavior_plugin_base.hpp | 3 +- .../data_type/entity_status.hpp | 2 + .../traffic_simulator/entity/ego_entity.hpp | 6 +- .../traffic_simulator/entity/entity_base.hpp | 20 ++--- .../src/data_type/entity_status.cpp | 16 ++-- .../src/entity/ego_entity.cpp | 13 +-- .../src/entity/entity_base.cpp | 38 ++++---- .../src/entity/misc_object_entity.cpp | 4 +- .../src/entity/pedestrian_entity.cpp | 16 ++-- .../src/entity/vehicle_entity.cpp | 19 ++-- 30 files changed, 250 insertions(+), 294 deletions(-) diff --git a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp index eda786c8202..d167045dfb0 100644 --- a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp +++ b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp @@ -66,8 +66,6 @@ class ActionNode : public BT::ActionNodeBase -> std::vector; auto stopEntity() const -> void; auto getHorizon() const -> double; - auto getActionStatus() const noexcept -> traffic_simulator_msgs::msg::ActionStatus; - auto getEntityName() const noexcept -> std::string; /// throws if the derived class return RUNNING. auto executeTick() -> BT::NodeStatus override; @@ -85,11 +83,10 @@ class ActionNode : public BT::ActionNodeBase BT::InputPort("route_lanelets"), BT::InputPort>("target_speed"), BT::InputPort>("hdmap_utils"), - BT::InputPort>("entity_status"), + BT::InputPort>("canonicalized_entity_status"), BT::InputPort>("traffic_light_manager"), BT::InputPort("request"), BT::OutputPort>("obstacle"), - BT::OutputPort>("non_canonicalized_updated_status"), BT::OutputPort("waypoints"), BT::OutputPort("request"), // clang-format on @@ -103,6 +100,8 @@ class ActionNode : public BT::ActionNodeBase double width_extension_right = 0.0, double width_extension_left = 0.0, double length_extension_front = 0.0, double length_extension_rear = 0.0) const -> std::optional; + + auto setCanonicalizedEntityStatus(const traffic_simulator::EntityStatus & entity_status) -> void; auto calculateUpdatedEntityStatus( double target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &) const -> traffic_simulator::EntityStatus; @@ -114,7 +113,7 @@ class ActionNode : public BT::ActionNodeBase traffic_simulator::behavior::Request request; std::shared_ptr hdmap_utils; std::shared_ptr traffic_light_manager; - std::shared_ptr entity_status; + std::shared_ptr canonicalized_entity_status; double current_time; double step_time; double default_matching_distance_for_lanelet_pose_calculation; diff --git a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/pedestrian/behavior_tree.hpp b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/pedestrian/behavior_tree.hpp index bd651428aba..54c03685898 100644 --- a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/pedestrian/behavior_tree.hpp +++ b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/pedestrian/behavior_tree.hpp @@ -51,24 +51,23 @@ class PedestrianBehaviorTree : public BehaviorPluginBase // clang-format off DEFINE_GETTER_SETTER(BehaviorParameter, traffic_simulator_msgs::msg::BehaviorParameter) + DEFINE_GETTER_SETTER(CanonicalizedEntityStatus, std::shared_ptr) DEFINE_GETTER_SETTER(CurrentTime, double) DEFINE_GETTER_SETTER(DebugMarker, std::vector) DEFINE_GETTER_SETTER(DefaultMatchingDistanceForLaneletPoseCalculation, double) DEFINE_GETTER_SETTER(GoalPoses, std::vector) - DEFINE_GETTER_SETTER(EntityStatus, std::shared_ptr) - DEFINE_GETTER_SETTER(PolylineTrajectory, std::shared_ptr) DEFINE_GETTER_SETTER(HdMapUtils, std::shared_ptr) DEFINE_GETTER_SETTER(LaneChangeParameters, traffic_simulator::lane_change::Parameter) DEFINE_GETTER_SETTER(Obstacle, std::optional) DEFINE_GETTER_SETTER(OtherEntityStatus, EntityStatusDict) DEFINE_GETTER_SETTER(PedestrianParameters, traffic_simulator_msgs::msg::PedestrianParameters) + DEFINE_GETTER_SETTER(PolylineTrajectory, std::shared_ptr) DEFINE_GETTER_SETTER(ReferenceTrajectory, std::shared_ptr) DEFINE_GETTER_SETTER(Request, traffic_simulator::behavior::Request) DEFINE_GETTER_SETTER(RouteLanelets, lanelet::Ids) DEFINE_GETTER_SETTER(StepTime, double) DEFINE_GETTER_SETTER(TargetSpeed, std::optional) DEFINE_GETTER_SETTER(TrafficLightManager, std::shared_ptr) - DEFINE_GETTER_SETTER(UpdatedStatus, std::shared_ptr) DEFINE_GETTER_SETTER(VehicleParameters, traffic_simulator_msgs::msg::VehicleParameters) DEFINE_GETTER_SETTER(Waypoints, traffic_simulator_msgs::msg::WaypointsArray) // clang-format on diff --git a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/vehicle/behavior_tree.hpp b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/vehicle/behavior_tree.hpp index 885da5cd5a5..fd3997d13a8 100644 --- a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/vehicle/behavior_tree.hpp +++ b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/vehicle/behavior_tree.hpp @@ -55,10 +55,10 @@ class VehicleBehaviorTree : public BehaviorPluginBase } // clang-format off + DEFINE_GETTER_SETTER(CanonicalizedEntityStatus, std::shared_ptr) DEFINE_GETTER_SETTER(CurrentTime, double) DEFINE_GETTER_SETTER(DebugMarker, std::vector) DEFINE_GETTER_SETTER(DefaultMatchingDistanceForLaneletPoseCalculation, double) - DEFINE_GETTER_SETTER(EntityStatus, std::shared_ptr) DEFINE_GETTER_SETTER(GoalPoses, std::vector) DEFINE_GETTER_SETTER(HdMapUtils, std::shared_ptr) DEFINE_GETTER_SETTER(LaneChangeParameters, traffic_simulator::lane_change::Parameter) @@ -72,7 +72,6 @@ class VehicleBehaviorTree : public BehaviorPluginBase DEFINE_GETTER_SETTER(StepTime, double) DEFINE_GETTER_SETTER(TargetSpeed, std::optional) DEFINE_GETTER_SETTER(TrafficLightManager, std::shared_ptr) - DEFINE_GETTER_SETTER(UpdatedStatus, std::shared_ptr) DEFINE_GETTER_SETTER(VehicleParameters, traffic_simulator_msgs::msg::VehicleParameters) DEFINE_GETTER_SETTER(Waypoints, traffic_simulator_msgs::msg::WaypointsArray) // clang-format on diff --git a/simulation/behavior_tree_plugin/src/action_node.cpp b/simulation/behavior_tree_plugin/src/action_node.cpp index b686714ffc2..29fcb393d7d 100644 --- a/simulation/behavior_tree_plugin/src/action_node.cpp +++ b/simulation/behavior_tree_plugin/src/action_node.cpp @@ -59,8 +59,8 @@ auto ActionNode::getBlackBoardValues() -> void THROW_SIMULATION_ERROR("failed to get input traffic_light_manager in ActionNode"); } if (!getInput>( - "entity_status", entity_status)) { - THROW_SIMULATION_ERROR("failed to get input entity_status in ActionNode"); + "canonicalized_entity_status", canonicalized_entity_status)) { + THROW_SIMULATION_ERROR("failed to get input canonicalized_entity_status in ActionNode"); } if (!getInput>("target_speed", target_speed)) { @@ -84,14 +84,21 @@ auto ActionNode::getBlackBoardValues() -> void auto ActionNode::getHorizon() const -> double { - return std::clamp(entity_status->getTwist().linear.x * 5.0, 20.0, 50.0); + return std::clamp(canonicalized_entity_status->getTwist().linear.x * 5.0, 20.0, 50.0); } auto ActionNode::stopEntity() const -> void { - entity_status->setTwist(geometry_msgs::msg::Twist()); - entity_status->setAccel(geometry_msgs::msg::Accel()); - entity_status->setLinearJerk(0); + canonicalized_entity_status->setTwist(geometry_msgs::msg::Twist()); + canonicalized_entity_status->setAccel(geometry_msgs::msg::Accel()); + canonicalized_entity_status->setLinearJerk(0); +} + +auto ActionNode::setCanonicalizedEntityStatus(const traffic_simulator::EntityStatus & entity_status) + -> void +{ + canonicalized_entity_status->set( + entity_status, default_matching_distance_for_lanelet_pose_calculation, hdmap_utils); } auto ActionNode::getOtherEntityStatus(lanelet::Id lanelet_id) const @@ -116,8 +123,8 @@ auto ActionNode::getYieldStopDistance(const lanelet::Ids & following_lanelets) c const auto right_of_way_ids = hdmap_utils->getRightOfWayLaneletIds(lanelet); for (const auto right_of_way_id : right_of_way_ids) { const auto other_status = getOtherEntityStatus(right_of_way_id); - if (!other_status.empty() && entity_status->laneMatchingSucceed()) { - const auto lanelet_pose = entity_status->getLaneletPose(); + if (!other_status.empty() && canonicalized_entity_status->laneMatchingSucceed()) { + const auto lanelet_pose = canonicalized_entity_status->getLaneletPose(); const auto distance_forward = hdmap_utils->getLongitudinalDistance( lanelet_pose, traffic_simulator::helper::constructLaneletPose(lanelet, 0)); const auto distance_backward = hdmap_utils->getLongitudinalDistance( @@ -167,11 +174,12 @@ auto ActionNode::getRightOfWayEntities(const lanelet::Ids & following_lanelets) auto ActionNode::getRightOfWayEntities() const -> std::vector { - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { return {}; } std::vector ret; - const auto lanelet_ids = hdmap_utils->getRightOfWayLaneletIds(entity_status->getLaneletId()); + const auto lanelet_ids = + hdmap_utils->getRightOfWayLaneletIds(canonicalized_entity_status->getLaneletId()); if (lanelet_ids.empty()) { return ret; } @@ -240,7 +248,7 @@ auto ActionNode::getFrontEntityName(const math::geometry::CatmullRomSplineInterf for (const auto & each : other_entity_status) { const auto distance = getDistanceToTargetEntityPolygon(spline, each.first); const auto quat = math::geometry::getRotation( - entity_status->getMapPose().orientation, + canonicalized_entity_status->getMapPose().orientation, other_entity_status.at(each.first).getMapPose().orientation); /** * @note hard-coded parameter, if the Yaw value of RPY is in ~1.5708 -> 1.5708, entity is a candidate of front entity. @@ -402,26 +410,30 @@ auto ActionNode::calculateUpdatedEntityStatus( { const auto speed_planner = traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner( - step_time, getEntityName()); + step_time, canonicalized_entity_status->getName()); const auto dynamics = speed_planner.getDynamicStates( - target_speed, constraints, entity_status->getTwist(), entity_status->getAccel()); + target_speed, constraints, canonicalized_entity_status->getTwist(), + canonicalized_entity_status->getAccel()); const double linear_jerk_new = std::get<2>(dynamics); const geometry_msgs::msg::Accel accel_new = std::get<1>(dynamics); const geometry_msgs::msg::Twist twist_new = std::get<0>(dynamics); - if (!entity_status->laneMatchingSucceed()) { - THROW_SIMULATION_ERROR("Entity ", entity_status->getName(), " is not matched to the lanelet."); + if (!canonicalized_entity_status->laneMatchingSucceed()) { + THROW_SIMULATION_ERROR( + "Entity ", canonicalized_entity_status->getName(), " is not matched to the lanelet."); } else { - auto lanelet_pose = entity_status->getLaneletPose(); + auto lanelet_pose = canonicalized_entity_status->getLaneletPose(); lanelet_pose.s = - lanelet_pose.s + (twist_new.linear.x + entity_status->getTwist().linear.x) / 2.0 * step_time; + lanelet_pose.s + + (twist_new.linear.x + canonicalized_entity_status->getTwist().linear.x) / 2.0 * step_time; const auto canonicalized = hdmap_utils->canonicalizeLaneletPose(lanelet_pose, route_lanelets); if ( const auto canonicalized_lanelet_pose = std::get>(canonicalized)) { // If canonicalize succeed, set canonicalized pose and set other values. - auto entity_status_updated = static_cast(*entity_status); + auto entity_status_updated = + static_cast(*canonicalized_entity_status); { entity_status_updated.time = current_time + step_time; entity_status_updated.lanelet_pose = canonicalized_lanelet_pose.value(); @@ -444,7 +456,8 @@ auto ActionNode::calculateUpdatedEntityStatus( end_of_road_lanelet_pose.offset = lanelet_pose.offset; end_of_road_lanelet_pose.rpy = lanelet_pose.rpy; } - auto entity_status_updated = static_cast(*entity_status); + auto entity_status_updated = + static_cast(*canonicalized_entity_status); { entity_status_updated.time = current_time + step_time; entity_status_updated.lanelet_pose = end_of_road_lanelet_pose; @@ -464,7 +477,8 @@ auto ActionNode::calculateUpdatedEntityStatus( end_of_road_lanelet_pose.offset = lanelet_pose.offset; end_of_road_lanelet_pose.rpy = lanelet_pose.rpy; } - auto entity_status_updated = static_cast(*entity_status); + auto entity_status_updated = + static_cast(*canonicalized_entity_status); { entity_status_updated.time = current_time + step_time; entity_status_updated.lanelet_pose = end_of_road_lanelet_pose; @@ -490,9 +504,10 @@ auto ActionNode::calculateUpdatedEntityStatusInWorldFrame( using math::geometry::operator*; const auto speed_planner = traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner( - step_time, getEntityName()); + step_time, canonicalized_entity_status->getName()); const auto dynamics = speed_planner.getDynamicStates( - target_speed, constraints, entity_status->getTwist(), entity_status->getAccel()); + target_speed, constraints, canonicalized_entity_status->getTwist(), + canonicalized_entity_status->getAccel()); double linear_jerk_new = std::get<2>(dynamics); geometry_msgs::msg::Accel accel_new = std::get<1>(dynamics); geometry_msgs::msg::Twist twist_new = std::get<0>(dynamics); @@ -501,17 +516,18 @@ auto ActionNode::calculateUpdatedEntityStatusInWorldFrame( angular_trans_vec.z = twist_new.angular.z * step_time; geometry_msgs::msg::Quaternion angular_trans_quat = math::geometry::convertEulerAngleToQuaternion(angular_trans_vec); - pose_new.orientation = entity_status->getMapPose().orientation * angular_trans_quat; + pose_new.orientation = canonicalized_entity_status->getMapPose().orientation * angular_trans_quat; Eigen::Vector3d trans_vec; trans_vec(0) = twist_new.linear.x * step_time; trans_vec(1) = twist_new.linear.y * step_time; trans_vec(2) = 0; Eigen::Matrix3d rotation_mat = math::geometry::getRotationMatrix(pose_new.orientation); trans_vec = rotation_mat * trans_vec; - pose_new.position.x = trans_vec(0) + entity_status->getMapPose().position.x; - pose_new.position.y = trans_vec(1) + entity_status->getMapPose().position.y; - pose_new.position.z = trans_vec(2) + entity_status->getMapPose().position.z; - auto entity_status_updated = static_cast(*entity_status); + pose_new.position.x = trans_vec(0) + canonicalized_entity_status->getMapPose().position.x; + pose_new.position.y = trans_vec(1) + canonicalized_entity_status->getMapPose().position.y; + pose_new.position.z = trans_vec(2) + canonicalized_entity_status->getMapPose().position.z; + auto entity_status_updated = + static_cast(*canonicalized_entity_status); entity_status_updated.time = current_time + step_time; entity_status_updated.lanelet_pose = traffic_simulator::LaneletPose(); entity_status_updated.lanelet_pose_valid = false; @@ -526,19 +542,9 @@ auto ActionNode::calculateStopDistance( const traffic_simulator_msgs::msg::DynamicConstraints & constraints) const -> double { return traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner( - step_time, getEntityName()) + step_time, canonicalized_entity_status->getName()) .getRunningDistance( - 0, constraints, entity_status->getTwist(), entity_status->getAccel(), - entity_status->getLinearJerk()); -} - -auto ActionNode::getActionStatus() const noexcept -> traffic_simulator_msgs::msg::ActionStatus -{ - return static_cast(*entity_status).action_status; -} - -auto ActionNode::getEntityName() const noexcept -> std::string -{ - return static_cast(*entity_status).name; + 0, constraints, canonicalized_entity_status->getTwist(), + canonicalized_entity_status->getAccel(), canonicalized_entity_status->getLinearJerk()); } } // namespace entity_behavior diff --git a/simulation/behavior_tree_plugin/src/pedestrian/follow_lane_action.cpp b/simulation/behavior_tree_plugin/src/pedestrian/follow_lane_action.cpp index d1d8790ac60..c24d13d66b1 100644 --- a/simulation/behavior_tree_plugin/src/pedestrian/follow_lane_action.cpp +++ b/simulation/behavior_tree_plugin/src/pedestrian/follow_lane_action.cpp @@ -38,21 +38,16 @@ BT::NodeStatus FollowLaneAction::tick() request != traffic_simulator::behavior::Request::FOLLOW_LANE) { return BT::NodeStatus::FAILURE; } - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { stopEntity(); - setOutput( - "non_canonicalized_updated_status", - std::make_shared( - static_cast(*entity_status))); return BT::NodeStatus::RUNNING; } - auto following_lanelets = hdmap_utils->getFollowingLanelets(entity_status->getLaneletId()); + auto following_lanelets = + hdmap_utils->getFollowingLanelets(canonicalized_entity_status->getLaneletId()); if (!target_speed) { target_speed = hdmap_utils->getSpeedLimit(following_lanelets); } - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); return BT::NodeStatus::RUNNING; } } // namespace pedestrian diff --git a/simulation/behavior_tree_plugin/src/pedestrian/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp b/simulation/behavior_tree_plugin/src/pedestrian/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp index ec6920082ae..8e722f5afb0 100644 --- a/simulation/behavior_tree_plugin/src/pedestrian/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp +++ b/simulation/behavior_tree_plugin/src/pedestrian/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp @@ -22,7 +22,7 @@ auto FollowPolylineTrajectoryAction::calculateWaypoints() -> const traffic_simulator_msgs::msg::WaypointsArray { auto waypoints = traffic_simulator_msgs::msg::WaypointsArray(); - waypoints.waypoints.push_back(entity_status->getMapPose().position); + waypoints.waypoints.push_back(canonicalized_entity_status->getMapPose().position); for (const auto & vertex : polyline_trajectory->shape.vertices) { waypoints.waypoints.push_back(vertex.position.position); } @@ -60,30 +60,26 @@ auto FollowPolylineTrajectoryAction::tick() -> BT::NodeStatus if (target_speed.has_value()) { return target_speed.value(); } else { - return entity_status->getTwist().linear.x; + return canonicalized_entity_status->getTwist().linear.x; } }; - auto getMatchingDistance = [&]() -> double { - return entity_status->getBoundingBox().dimensions.y * 0.5 + 1.0; - }; - if (getBlackBoardValues(); request != traffic_simulator::behavior::Request::FOLLOW_POLYLINE_TRAJECTORY or not getInput("polyline_trajectory", polyline_trajectory) or not getInput("target_speed", target_speed) or not polyline_trajectory) { return BT::NodeStatus::FAILURE; - } else if (std::isnan(entity_status->getTime())) { + } else if (std::isnan(canonicalized_entity_status->getTime())) { THROW_SIMULATION_ERROR( - "Time in entity_status is NaN - FollowTrajectoryAction does not support such case."); + "Time in canonicalized_entity_status is NaN - FollowTrajectoryAction does not support such " + "case."); } else if ( - const auto updated_status = traffic_simulator::follow_trajectory::makeUpdatedStatus( - static_cast(*entity_status), *polyline_trajectory, - behavior_parameter, hdmap_utils, step_time, getMatchingDistance(), getTargetSpeed())) { - setOutput( - "non_canonicalized_updated_status", - std::make_shared(updated_status.value())); + const auto entity_status_updated = traffic_simulator::follow_trajectory::makeUpdatedStatus( + static_cast(*canonicalized_entity_status), + *polyline_trajectory, behavior_parameter, hdmap_utils, step_time, + default_matching_distance_for_lanelet_pose_calculation, getTargetSpeed())) { + setCanonicalizedEntityStatus(entity_status_updated.value()); setOutput("waypoints", calculateWaypoints()); setOutput("obstacle", calculateObstacle(calculateWaypoints())); return BT::NodeStatus::RUNNING; diff --git a/simulation/behavior_tree_plugin/src/pedestrian/pedestrian_action_node.cpp b/simulation/behavior_tree_plugin/src/pedestrian/pedestrian_action_node.cpp index 57b05a73540..cbf2f304c22 100644 --- a/simulation/behavior_tree_plugin/src/pedestrian/pedestrian_action_node.cpp +++ b/simulation/behavior_tree_plugin/src/pedestrian/pedestrian_action_node.cpp @@ -51,20 +51,21 @@ auto PedestrianActionNode::calculateUpdatedEntityStatus(double target_speed) con auto PedestrianActionNode::calculateUpdatedEntityStatusInWorldFrame(double target_speed) const -> traffic_simulator::EntityStatus { - auto updated_status = ActionNode::calculateUpdatedEntityStatusInWorldFrame( + auto entity_status_updated = ActionNode::calculateUpdatedEntityStatusInWorldFrame( target_speed, behavior_parameter.dynamic_constraints); if ( const auto canonicalized_lanelet_pose = traffic_simulator::pose::pedestrian::transformToCanonicalizedLaneletPose( - updated_status.pose, entity_status->getBoundingBox(), entity_status->getLaneletIds(), true, + entity_status_updated.pose, canonicalized_entity_status->getBoundingBox(), + canonicalized_entity_status->getLaneletIds(), true, default_matching_distance_for_lanelet_pose_calculation, hdmap_utils)) { - updated_status.lanelet_pose_valid = true; - updated_status.lanelet_pose = + entity_status_updated.lanelet_pose_valid = true; + entity_status_updated.lanelet_pose = static_cast(canonicalized_lanelet_pose.value()); } else { - updated_status.lanelet_pose_valid = false; - updated_status.lanelet_pose = traffic_simulator::LaneletPose(); + entity_status_updated.lanelet_pose_valid = false; + entity_status_updated.lanelet_pose = traffic_simulator::LaneletPose(); } - return updated_status; + return entity_status_updated; } } // namespace entity_behavior diff --git a/simulation/behavior_tree_plugin/src/pedestrian/walk_straight_action.cpp b/simulation/behavior_tree_plugin/src/pedestrian/walk_straight_action.cpp index c9d6ca6b4a1..e4b8f5f3a95 100644 --- a/simulation/behavior_tree_plugin/src/pedestrian/walk_straight_action.cpp +++ b/simulation/behavior_tree_plugin/src/pedestrian/walk_straight_action.cpp @@ -47,10 +47,7 @@ BT::NodeStatus WalkStraightAction::tick() if (!target_speed) { target_speed = 1.111; } - setOutput( - "non_canonicalized_updated_status", - std::make_shared( - calculateUpdatedEntityStatusInWorldFrame(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatusInWorldFrame(target_speed.value())); return BT::NodeStatus::RUNNING; } } // namespace pedestrian diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_front_entity_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_front_entity_action.cpp index ed88dab181e..8c30fce024a 100644 --- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_front_entity_action.cpp +++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_front_entity_action.cpp @@ -52,13 +52,13 @@ FollowFrontEntityAction::calculateObstacle(const traffic_simulator_msgs::msg::Wa const traffic_simulator_msgs::msg::WaypointsArray FollowFrontEntityAction::calculateWaypoints() { - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { THROW_SIMULATION_ERROR("failed to assign lane"); } - if (entity_status->getTwist().linear.x >= 0) { + if (canonicalized_entity_status->getTwist().linear.x >= 0) { traffic_simulator_msgs::msg::WaypointsArray waypoints; double horizon = getHorizon(); - const auto lanelet_pose = entity_status->getLaneletPose(); + const auto lanelet_pose = canonicalized_entity_status->getLaneletPose(); waypoints.waypoints = reference_trajectory->getTrajectory( lanelet_pose.s, lanelet_pose.s + horizon, 1.0, lanelet_pose.offset); trajectory = std::make_unique( @@ -117,9 +117,7 @@ BT::NodeStatus FollowFrontEntityAction::tick() } const double front_entity_linear_velocity = front_entity_status.getTwist().linear.x; if (target_speed.value() <= front_entity_linear_velocity) { - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); const auto obstacle = calculateObstacle(waypoints); setOutput("waypoints", waypoints); setOutput("obstacle", obstacle); @@ -129,28 +127,19 @@ BT::NodeStatus FollowFrontEntityAction::tick() distance_to_front_entity_.value() >= (calculateStopDistance(behavior_parameter.dynamic_constraints) + vehicle_parameters.bounding_box.dimensions.x + 5)) { - setOutput( - "non_canonicalized_updated_status", - std::make_shared( - calculateUpdatedEntityStatus(front_entity_linear_velocity + 2))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(front_entity_linear_velocity + 2)); setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); return BT::NodeStatus::RUNNING; } else if ( distance_to_front_entity_.value() <= calculateStopDistance(behavior_parameter.dynamic_constraints)) { - setOutput( - "non_canonicalized_updated_status", - std::make_shared( - calculateUpdatedEntityStatus(front_entity_linear_velocity - 2))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(front_entity_linear_velocity - 2)); setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); return BT::NodeStatus::RUNNING; } else { - setOutput( - "non_canonicalized_updated_status", - std::make_shared( - calculateUpdatedEntityStatus(front_entity_linear_velocity))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(front_entity_linear_velocity)); setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); return BT::NodeStatus::RUNNING; diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_lane_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_lane_action.cpp index 014973cc74b..1b70dd26599 100644 --- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_lane_action.cpp +++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_lane_action.cpp @@ -39,12 +39,12 @@ const std::optional FollowLaneAction::cal const traffic_simulator_msgs::msg::WaypointsArray FollowLaneAction::calculateWaypoints() { - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { THROW_SIMULATION_ERROR("failed to assign lane"); } - if (entity_status->getTwist().linear.x >= 0) { + if (canonicalized_entity_status->getTwist().linear.x >= 0) { traffic_simulator_msgs::msg::WaypointsArray waypoints; - const auto lanelet_pose = entity_status->getLaneletPose(); + const auto lanelet_pose = canonicalized_entity_status->getLaneletPose(); waypoints.waypoints = reference_trajectory->getTrajectory( lanelet_pose.s, lanelet_pose.s + getHorizon(), 1.0, lanelet_pose.offset); trajectory = std::make_unique( @@ -74,12 +74,8 @@ BT::NodeStatus FollowLaneAction::tick() request != traffic_simulator::behavior::Request::FOLLOW_LANE) { return BT::NodeStatus::FAILURE; } - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { stopEntity(); - setOutput( - "non_canonicalized_updated_status", - std::make_shared( - static_cast(*entity_status))); return BT::NodeStatus::RUNNING; } const auto waypoints = calculateWaypoints(); @@ -132,9 +128,7 @@ BT::NodeStatus FollowLaneAction::tick() if (!target_speed) { target_speed = hdmap_utils->getSpeedLimit(route_lanelets); } - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); return BT::NodeStatus::RUNNING; diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/move_backward_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/move_backward_action.cpp index 41ab85ca134..d1412b22029 100644 --- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/move_backward_action.cpp +++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/move_backward_action.cpp @@ -35,13 +35,13 @@ const std::optional MoveBackwardAction::c const traffic_simulator_msgs::msg::WaypointsArray MoveBackwardAction::calculateWaypoints() { - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { THROW_SIMULATION_ERROR("failed to assign lane"); } - if (entity_status->getTwist().linear.x >= 0) { + if (canonicalized_entity_status->getTwist().linear.x >= 0) { return traffic_simulator_msgs::msg::WaypointsArray(); } - const auto lanelet_pose = entity_status->getLaneletPose(); + const auto lanelet_pose = canonicalized_entity_status->getLaneletPose(); const auto ids = hdmap_utils->getPreviousLanelets(lanelet_pose.lanelet_id); // DIFFERENT SPLINE - recalculation needed math::geometry::CatmullRomSpline spline(hdmap_utils->getCenterPoints(ids)); @@ -70,7 +70,7 @@ BT::NodeStatus MoveBackwardAction::tick() request != traffic_simulator::behavior::Request::FOLLOW_LANE) { return BT::NodeStatus::FAILURE; } - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { return BT::NodeStatus::FAILURE; } const auto waypoints = calculateWaypoints(); @@ -78,12 +78,11 @@ BT::NodeStatus MoveBackwardAction::tick() return BT::NodeStatus::FAILURE; } if (!target_speed) { - target_speed = - hdmap_utils->getSpeedLimit(hdmap_utils->getPreviousLanelets(entity_status->getLaneletId())); + target_speed = hdmap_utils->getSpeedLimit( + hdmap_utils->getPreviousLanelets(canonicalized_entity_status->getLaneletId())); } - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); return BT::NodeStatus::RUNNING; diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_crossing_entity_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_crossing_entity_action.cpp index e5810a1f86d..c85e6cdf622 100644 --- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_crossing_entity_action.cpp +++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_crossing_entity_action.cpp @@ -54,12 +54,12 @@ StopAtCrossingEntityAction::calculateObstacle(const traffic_simulator_msgs::msg: const traffic_simulator_msgs::msg::WaypointsArray StopAtCrossingEntityAction::calculateWaypoints() { - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { THROW_SIMULATION_ERROR("failed to assign lane"); } - if (entity_status->getTwist().linear.x >= 0) { + if (canonicalized_entity_status->getTwist().linear.x >= 0) { traffic_simulator_msgs::msg::WaypointsArray waypoints; - const auto lanelet_pose = entity_status->getLaneletPose(); + const auto lanelet_pose = canonicalized_entity_status->getLaneletPose(); waypoints.waypoints = reference_trajectory->getTrajectory( lanelet_pose.s, lanelet_pose.s + getHorizon(), 1.0, lanelet_pose.offset); trajectory = std::make_unique( @@ -92,7 +92,7 @@ BT::NodeStatus StopAtCrossingEntityAction::tick() in_stop_sequence_ = false; return BT::NodeStatus::FAILURE; } - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { in_stop_sequence_ = false; return BT::NodeStatus::FAILURE; } @@ -132,14 +132,12 @@ BT::NodeStatus StopAtCrossingEntityAction::tick() } std::optional target_linear_speed; if (distance_to_stop_target_) { - target_linear_speed = calculateTargetSpeed(entity_status->getTwist().linear.x); + target_linear_speed = calculateTargetSpeed(canonicalized_entity_status->getTwist().linear.x); } else { target_linear_speed = std::nullopt; } if (!distance_to_stop_target_) { - setOutput( - "non_canonicalized_updated_status", - std::make_shared(calculateUpdatedEntityStatus(0))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(0)); setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); in_stop_sequence_ = false; @@ -152,9 +150,7 @@ BT::NodeStatus StopAtCrossingEntityAction::tick() } else { target_speed = target_linear_speed.value(); } - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); in_stop_sequence_ = true; diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_stop_line_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_stop_line_action.cpp index c5d131be2f7..23011a89e47 100644 --- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_stop_line_action.cpp +++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_stop_line_action.cpp @@ -53,13 +53,13 @@ const std::optional StopAtStopLineAction: const traffic_simulator_msgs::msg::WaypointsArray StopAtStopLineAction::calculateWaypoints() { - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { THROW_SIMULATION_ERROR("failed to assign lane"); } - if (entity_status->getTwist().linear.x >= 0) { + if (canonicalized_entity_status->getTwist().linear.x >= 0) { traffic_simulator_msgs::msg::WaypointsArray waypoints; double horizon = getHorizon(); - const auto lanelet_pose = entity_status->getLaneletPose(); + const auto lanelet_pose = canonicalized_entity_status->getLaneletPose(); waypoints.waypoints = reference_trajectory->getTrajectory( lanelet_pose.s, lanelet_pose.s + horizon, 1.0, lanelet_pose.offset); trajectory = std::make_unique( @@ -128,7 +128,7 @@ BT::NodeStatus StopAtStopLineAction::tick() } } - if (std::fabs(entity_status->getTwist().linear.x) < 0.001) { + if (std::fabs(canonicalized_entity_status->getTwist().linear.x) < 0.001) { if (distance_to_stopline_) { if (distance_to_stopline_.value() <= vehicle_parameters.bounding_box.dimensions.x + 5) { stopped_ = true; @@ -141,21 +141,17 @@ BT::NodeStatus StopAtStopLineAction::tick() } if (!distance_to_stopline_) { stopped_ = false; - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); return BT::NodeStatus::SUCCESS; } - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); return BT::NodeStatus::RUNNING; } - auto target_linear_speed = calculateTargetSpeed(entity_status->getTwist().linear.x); + auto target_linear_speed = calculateTargetSpeed(canonicalized_entity_status->getTwist().linear.x); if (!target_linear_speed) { stopped_ = false; return BT::NodeStatus::FAILURE; @@ -167,9 +163,7 @@ BT::NodeStatus StopAtStopLineAction::tick() } else { target_speed = target_linear_speed.value(); } - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); stopped_ = false; setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_traffic_light_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_traffic_light_action.cpp index 2e26a8f722a..e8033ff1ad7 100644 --- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_traffic_light_action.cpp +++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_traffic_light_action.cpp @@ -52,12 +52,12 @@ StopAtTrafficLightAction::calculateObstacle(const traffic_simulator_msgs::msg::W const traffic_simulator_msgs::msg::WaypointsArray StopAtTrafficLightAction::calculateWaypoints() { - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { THROW_SIMULATION_ERROR("failed to assign lane"); } - if (entity_status->getTwist().linear.x >= 0) { + if (canonicalized_entity_status->getTwist().linear.x >= 0) { traffic_simulator_msgs::msg::WaypointsArray waypoints; - const auto lanelet_pose = entity_status->getLaneletPose(); + const auto lanelet_pose = canonicalized_entity_status->getLaneletPose(); waypoints.waypoints = reference_trajectory->getTrajectory( lanelet_pose.s, lanelet_pose.s + getHorizon(), 1.0, lanelet_pose.offset); trajectory = std::make_unique( @@ -92,7 +92,7 @@ BT::NodeStatus StopAtTrafficLightAction::tick() request != traffic_simulator::behavior::Request::FOLLOW_LANE) { return BT::NodeStatus::FAILURE; } - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { return BT::NodeStatus::FAILURE; } if (!behavior_parameter.see_around) { @@ -114,14 +114,12 @@ BT::NodeStatus StopAtTrafficLightAction::tick() if (distance_to_stop_target_.value() > getHorizon()) { return BT::NodeStatus::FAILURE; } - target_linear_speed = calculateTargetSpeed(entity_status->getTwist().linear.x); + target_linear_speed = calculateTargetSpeed(canonicalized_entity_status->getTwist().linear.x); } else { return BT::NodeStatus::FAILURE; } if (!distance_to_stop_target_) { - setOutput( - "non_canonicalized_updated_status", - std::make_shared(calculateUpdatedEntityStatus(0))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(0)); setOutput("waypoints", waypoints); setOutput("obstacle", calculateObstacle(waypoints)); return BT::NodeStatus::SUCCESS; @@ -133,9 +131,7 @@ BT::NodeStatus StopAtTrafficLightAction::tick() } else { target_speed = target_linear_speed.value(); } - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); const auto obstacle = calculateObstacle(waypoints); setOutput("waypoints", waypoints); setOutput("obstacle", obstacle); diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/yield_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/yield_action.cpp index 456622d8daa..002db268065 100644 --- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/yield_action.cpp +++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/yield_action.cpp @@ -52,13 +52,13 @@ const std::optional YieldAction::calculat const traffic_simulator_msgs::msg::WaypointsArray YieldAction::calculateWaypoints() { - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { THROW_SIMULATION_ERROR("failed to assign lane"); } - if (entity_status->getTwist().linear.x >= 0) { + if (canonicalized_entity_status->getTwist().linear.x >= 0) { traffic_simulator_msgs::msg::WaypointsArray waypoints; double horizon = getHorizon(); - const auto lanelet_pose = entity_status->getLaneletPose(); + const auto lanelet_pose = canonicalized_entity_status->getLaneletPose(); waypoints.waypoints = reference_trajectory->getTrajectory( lanelet_pose.s, lanelet_pose.s + horizon, 1.0, lanelet_pose.offset); trajectory = std::make_unique( @@ -82,7 +82,7 @@ std::optional YieldAction::calculateTargetSpeed() if (rest_distance < calculateStopDistance(behavior_parameter.dynamic_constraints)) { return 0; } - return entity_status->getTwist().linear.x; + return canonicalized_entity_status->getTwist().linear.x; } BT::NodeStatus YieldAction::tick() @@ -96,7 +96,7 @@ BT::NodeStatus YieldAction::tick() if (!behavior_parameter.see_around) { return BT::NodeStatus::FAILURE; } - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { return BT::NodeStatus::FAILURE; } const auto right_of_way_entities = getRightOfWayEntities(route_lanelets); @@ -104,9 +104,7 @@ BT::NodeStatus YieldAction::tick() if (!target_speed) { target_speed = hdmap_utils->getSpeedLimit(route_lanelets); } - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); const auto waypoints = calculateWaypoints(); if (waypoints.waypoints.empty()) { return BT::NodeStatus::FAILURE; @@ -121,9 +119,7 @@ BT::NodeStatus YieldAction::tick() if (!target_speed) { target_speed = hdmap_utils->getSpeedLimit(route_lanelets); } - setOutput( - "non_canonicalized_updated_status", std::make_shared( - calculateUpdatedEntityStatus(target_speed.value()))); + setCanonicalizedEntityStatus(calculateUpdatedEntityStatus(target_speed.value())); const auto waypoints = calculateWaypoints(); if (waypoints.waypoints.empty()) { return BT::NodeStatus::FAILURE; diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp index 98be60d6e81..c2c097a0da2 100644 --- a/simulation/behavior_tree_plugin/src/vehicle/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp +++ b/simulation/behavior_tree_plugin/src/vehicle/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp @@ -22,7 +22,7 @@ auto FollowPolylineTrajectoryAction::calculateWaypoints() -> const traffic_simulator_msgs::msg::WaypointsArray { auto waypoints = traffic_simulator_msgs::msg::WaypointsArray(); - waypoints.waypoints.push_back(entity_status->getMapPose().position); + waypoints.waypoints.push_back(canonicalized_entity_status->getMapPose().position); for (const auto & vertex : polyline_trajectory->shape.vertices) { waypoints.waypoints.push_back(vertex.position.position); } @@ -60,34 +60,26 @@ auto FollowPolylineTrajectoryAction::tick() -> BT::NodeStatus if (target_speed.has_value()) { return target_speed.value(); } else { - return entity_status->getTwist().linear.x; + return canonicalized_entity_status->getTwist().linear.x; } }; - auto getMatchingDistance = [&]() -> double { - return std::max( - vehicle_parameters.axles.front_axle.track_width, - vehicle_parameters.axles.rear_axle.track_width) * - 0.5 + - 1.0; - }; - if (getBlackBoardValues(); request != traffic_simulator::behavior::Request::FOLLOW_POLYLINE_TRAJECTORY or not getInput("polyline_trajectory", polyline_trajectory) or not getInput("target_speed", target_speed) or not polyline_trajectory) { return BT::NodeStatus::FAILURE; - } else if (std::isnan(entity_status->getTime())) { + } else if (std::isnan(canonicalized_entity_status->getTime())) { THROW_SIMULATION_ERROR( - "Time in entity_status is NaN - FollowTrajectoryAction does not support such case."); + "Time in canonicalized_entity_status is NaN - FollowTrajectoryAction does not support such " + "case."); } else if ( - const auto updated_status = traffic_simulator::follow_trajectory::makeUpdatedStatus( - static_cast(*entity_status), *polyline_trajectory, - behavior_parameter, hdmap_utils, step_time, getMatchingDistance(), getTargetSpeed())) { - setOutput( - "non_canonicalized_updated_status", - std::make_shared(updated_status.value())); + const auto entity_status_updated = traffic_simulator::follow_trajectory::makeUpdatedStatus( + static_cast(*canonicalized_entity_status), + *polyline_trajectory, behavior_parameter, hdmap_utils, step_time, + default_matching_distance_for_lanelet_pose_calculation, getTargetSpeed())) { + setCanonicalizedEntityStatus(entity_status_updated.value()); setOutput("waypoints", calculateWaypoints()); setOutput("obstacle", calculateObstacle(calculateWaypoints())); return BT::NodeStatus::RUNNING; diff --git a/simulation/behavior_tree_plugin/src/vehicle/lane_change_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/lane_change_action.cpp index d387bc604d4..593915b94b0 100644 --- a/simulation/behavior_tree_plugin/src/vehicle/lane_change_action.cpp +++ b/simulation/behavior_tree_plugin/src/vehicle/lane_change_action.cpp @@ -46,7 +46,7 @@ const traffic_simulator_msgs::msg::WaypointsArray LaneChangeAction::calculateWay if (!lane_change_parameters_) { THROW_SIMULATION_ERROR("lane change parameter is null"); } - if (entity_status->getTwist().linear.x >= 0) { + if (canonicalized_entity_status->getTwist().linear.x >= 0) { traffic_simulator_msgs::msg::WaypointsArray waypoints; double horizon = getHorizon(); auto following_lanelets = @@ -102,10 +102,10 @@ BT::NodeStatus LaneChangeAction::tick() } if (!curve_) { if (request == traffic_simulator::behavior::Request::LANE_CHANGE) { - if (!entity_status->laneMatchingSucceed()) { + if (!canonicalized_entity_status->laneMatchingSucceed()) { return BT::NodeStatus::FAILURE; } - const auto lanelet_pose = entity_status->getLaneletPose(); + const auto lanelet_pose = canonicalized_entity_status->getLaneletPose(); if (!hdmap_utils->canChangeLane( lanelet_pose.lanelet_id, lane_change_parameters_->target.lanelet_id)) { return BT::NodeStatus::FAILURE; @@ -156,14 +156,14 @@ BT::NodeStatus LaneChangeAction::tick() .position.y); switch (lane_change_parameters_->constraint.type) { case traffic_simulator::lane_change::Constraint::Type::NONE: - lane_change_velocity_ = entity_status->getTwist().linear.x; + lane_change_velocity_ = canonicalized_entity_status->getTwist().linear.x; break; case traffic_simulator::lane_change::Constraint::Type::LATERAL_VELOCITY: lane_change_velocity_ = curve_->getLength() / (offset / lane_change_parameters_->constraint.value); break; case traffic_simulator::lane_change::Constraint::Type::LONGITUDINAL_DISTANCE: - lane_change_velocity_ = entity_status->getTwist().linear.x; + lane_change_velocity_ = canonicalized_entity_status->getTwist().linear.x; break; case traffic_simulator::lane_change::Constraint::Type::TIME: lane_change_velocity_ = curve_->getLength() / lane_change_parameters_->constraint.value; @@ -181,17 +181,18 @@ BT::NodeStatus LaneChangeAction::tick() * @brief Force changing speed in order to fulfill constraint. */ case traffic_simulator::lane_change::Constraint::Policy::FORCE: - entity_status->setTwist(geometry_msgs::msg::Twist()); - entity_status->setAccel(geometry_msgs::msg::Accel()); - entity_status->setLinearVelocity(lane_change_velocity_); - current_s_ = current_s_ + entity_status->getTwist().linear.x * step_time; + canonicalized_entity_status->setTwist(geometry_msgs::msg::Twist()); + canonicalized_entity_status->setAccel(geometry_msgs::msg::Accel()); + canonicalized_entity_status->setLinearVelocity(lane_change_velocity_); + current_s_ = current_s_ + canonicalized_entity_status->getTwist().linear.x * step_time; break; /** * @brief Changing linear speed and try to fulfill constraint. */ case traffic_simulator::lane_change::Constraint::Policy::BEST_EFFORT: - target_accel = (lane_change_velocity_ - entity_status->getTwist().linear.x) / step_time; - if (entity_status->getTwist().linear.x > target_speed) { + target_accel = + (lane_change_velocity_ - canonicalized_entity_status->getTwist().linear.x) / step_time; + if (canonicalized_entity_status->getTwist().linear.x > target_speed) { target_accel = std::clamp( target_accel, behavior_parameter.dynamic_constraints.max_deceleration * -1.0, 0.0); } else { @@ -205,27 +206,26 @@ BT::NodeStatus LaneChangeAction::tick() * @note Hard coded parameter, -10.0 is a minimum linear velocity of the entity. */ twist_new.linear.x = std::clamp( - entity_status->getTwist().linear.x + accel_new.linear.x * step_time, -10.0, + canonicalized_entity_status->getTwist().linear.x + accel_new.linear.x * step_time, -10.0, vehicle_parameters.performance.max_speed); twist_new.linear.y = 0.0; twist_new.linear.z = 0.0; twist_new.angular.x = 0.0; twist_new.angular.y = 0.0; twist_new.angular.z = 0.0; - entity_status->setTwist(twist_new); - entity_status->setAccel(accel_new); - current_s_ = current_s_ + entity_status->getTwist().linear.x * step_time; + canonicalized_entity_status->setTwist(twist_new); + canonicalized_entity_status->setAccel(accel_new); + current_s_ = current_s_ + canonicalized_entity_status->getTwist().linear.x * step_time; break; } if (current_s_ < curve_->getLength()) { geometry_msgs::msg::Pose pose = curve_->getPose(current_s_, true); - auto entity_status_updated = static_cast(*entity_status); + auto entity_status_updated = + static_cast(*canonicalized_entity_status); entity_status_updated.pose = pose; entity_status_updated.lanelet_pose_valid = false; - entity_status_updated.action_status = getActionStatus(); - setOutput( - "non_canonicalized_updated_status", - std::make_shared(entity_status_updated)); + entity_status_updated.action_status = canonicalized_entity_status->getActionStatus(); + setCanonicalizedEntityStatus(entity_status_updated); const auto waypoints = calculateWaypoints(); if (waypoints.waypoints.empty()) { return BT::NodeStatus::FAILURE; @@ -246,7 +246,8 @@ BT::NodeStatus LaneChangeAction::tick() curve_ = std::nullopt; current_s_ = 0; lane_change_velocity_ = 0; - auto entity_status_updated = static_cast(*entity_status); + auto entity_status_updated = + static_cast(*canonicalized_entity_status); traffic_simulator::LaneletPose lanelet_pose; lanelet_pose.lanelet_id = lane_change_parameters_->target.lanelet_id; lanelet_pose.s = s; @@ -254,10 +255,8 @@ BT::NodeStatus LaneChangeAction::tick() entity_status_updated.lanelet_pose = lanelet_pose; entity_status_updated.lanelet_pose_valid = true; entity_status_updated.pose = hdmap_utils->toMapPose(lanelet_pose).pose; - entity_status_updated.action_status = getActionStatus(); - setOutput( - "non_canonicalized_updated_status", - std::make_shared(entity_status_updated)); + entity_status_updated.action_status = canonicalized_entity_status->getActionStatus(); + setCanonicalizedEntityStatus(entity_status_updated); return BT::NodeStatus::SUCCESS; } } diff --git a/simulation/behavior_tree_plugin/src/vehicle/vehicle_action_node.cpp b/simulation/behavior_tree_plugin/src/vehicle/vehicle_action_node.cpp index 6dc4ef3a711..549ba448d97 100644 --- a/simulation/behavior_tree_plugin/src/vehicle/vehicle_action_node.cpp +++ b/simulation/behavior_tree_plugin/src/vehicle/vehicle_action_node.cpp @@ -56,7 +56,7 @@ auto VehicleActionNode::calculateUpdatedEntityStatusInWorldFrame(double target_s if (target_speed > vehicle_parameters.performance.max_speed) { target_speed = vehicle_parameters.performance.max_speed; } else { - target_speed = entity_status->getTwist().linear.x; + target_speed = canonicalized_entity_status->getTwist().linear.x; } return ActionNode::calculateUpdatedEntityStatusInWorldFrame( target_speed, behavior_parameter.dynamic_constraints); diff --git a/simulation/do_nothing_plugin/include/do_nothing_plugin/plugin.hpp b/simulation/do_nothing_plugin/include/do_nothing_plugin/plugin.hpp index 3de43ba43b9..482e3411ff7 100644 --- a/simulation/do_nothing_plugin/include/do_nothing_plugin/plugin.hpp +++ b/simulation/do_nothing_plugin/include/do_nothing_plugin/plugin.hpp @@ -70,14 +70,13 @@ public: \ private: \ TYPE FIELD_NAME; // clang-format off - DEFINE_GETTER_SETTER(BehaviorParameter, traffic_simulator_msgs::msg::BehaviorParameter, behavior_parameter_) - DEFINE_GETTER_SETTER(CurrentTime, double, current_time_) - DEFINE_GETTER_SETTER(EntityStatus, std::shared_ptr, entity_status_) - DEFINE_GETTER_SETTER(HdMapUtils, std::shared_ptr, hdmap_utils_) - DEFINE_GETTER_SETTER(PolylineTrajectory, std::shared_ptr, polyline_trajectory) - DEFINE_GETTER_SETTER(Request, traffic_simulator::behavior::Request, request) - DEFINE_GETTER_SETTER(StepTime, double, step_time_) - DEFINE_GETTER_SETTER(UpdatedStatus, std::shared_ptr, updated_status_) + DEFINE_GETTER_SETTER(BehaviorParameter, traffic_simulator_msgs::msg::BehaviorParameter, behavior_parameter_) + DEFINE_GETTER_SETTER(CanonicalizedEntityStatus, std::shared_ptr, canonicalized_entity_status_) + DEFINE_GETTER_SETTER(CurrentTime, double, current_time_) + DEFINE_GETTER_SETTER(HdMapUtils, std::shared_ptr, hdmap_utils_) + DEFINE_GETTER_SETTER(PolylineTrajectory, std::shared_ptr, polyline_trajectory) + DEFINE_GETTER_SETTER(Request, traffic_simulator::behavior::Request, request) + DEFINE_GETTER_SETTER(StepTime, double, step_time_) // clang-format on #undef DEFINE_GETTER_SETTER }; diff --git a/simulation/do_nothing_plugin/src/plugin.cpp b/simulation/do_nothing_plugin/src/plugin.cpp index 9f5597e3f7d..4e0e9a2be2e 100644 --- a/simulation/do_nothing_plugin/src/plugin.cpp +++ b/simulation/do_nothing_plugin/src/plugin.cpp @@ -149,25 +149,28 @@ void DoNothingBehavior::update(double current_time, double step_time) if ( const auto interpolated_status = do_nothing_behavior::follow_trajectory::interpolateEntityStatusFromPolylineTrajectory( - getPolylineTrajectory(), getEntityStatus(), getCurrentTime(), getStepTime())) { - return std::make_shared(interpolated_status.value()); + getPolylineTrajectory(), getCanonicalizedEntityStatus(), getCurrentTime(), + getStepTime())) { + return interpolated_status.value(); } else { - return std::make_shared( - static_cast(*entity_status_)); + return static_cast(*canonicalized_entity_status_); } }; - entity_status_->setTime(current_time); + canonicalized_entity_status_->setTime(current_time); if (getRequest() == traffic_simulator::behavior::Request::FOLLOW_POLYLINE_TRAJECTORY) { - setUpdatedStatus(interpolate_entity_status_on_polyline_trajectory()); + canonicalized_entity_status_->set( + interpolate_entity_status_on_polyline_trajectory(), + getDefaultMatchingDistanceForLaneletPoseCalculation(), getHdMapUtils()); if ( getCurrentTime() + getStepTime() >= do_nothing_behavior::follow_trajectory::getLastVertexTimestamp(getPolylineTrajectory())) { setRequest(traffic_simulator::behavior::Request::NONE); } } else { - setUpdatedStatus(std::make_shared( - static_cast(*entity_status_))); + canonicalized_entity_status_->set( + static_cast(*canonicalized_entity_status_), + getDefaultMatchingDistanceForLaneletPoseCalculation(), getHdMapUtils()); } } diff --git a/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp index 8094598791c..168dda9f05f 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp @@ -55,10 +55,10 @@ class BehaviorPluginBase // clang-format off DEFINE_GETTER_SETTER(BehaviorParameter, "behavior_parameter", traffic_simulator_msgs::msg::BehaviorParameter) + DEFINE_GETTER_SETTER(CanonicalizedEntityStatus, "canonicalized_entity_status", std::shared_ptr) DEFINE_GETTER_SETTER(CurrentTime, "current_time", double) DEFINE_GETTER_SETTER(DebugMarker, "debug_marker", std::vector) DEFINE_GETTER_SETTER(DefaultMatchingDistanceForLaneletPoseCalculation, "matching_distance_for_lanelet_pose_calculation", double) - DEFINE_GETTER_SETTER(EntityStatus, "entity_status", std::shared_ptr) DEFINE_GETTER_SETTER(GoalPoses, "goal_poses", std::vector) DEFINE_GETTER_SETTER(HdMapUtils, "hdmap_utils", std::shared_ptr) DEFINE_GETTER_SETTER(LaneChangeParameters, "lane_change_parameters", traffic_simulator::lane_change::Parameter) @@ -72,7 +72,6 @@ class BehaviorPluginBase DEFINE_GETTER_SETTER(StepTime, "step_time", double) DEFINE_GETTER_SETTER(TargetSpeed, "target_speed", std::optional) DEFINE_GETTER_SETTER(TrafficLightManager, "traffic_light_manager", std::shared_ptr) - DEFINE_GETTER_SETTER(UpdatedStatus, "non_canonicalized_updated_status", std::shared_ptr) DEFINE_GETTER_SETTER(VehicleParameters, "vehicle_parameters", traffic_simulator_msgs::msg::VehicleParameters) DEFINE_GETTER_SETTER(Waypoints, "waypoints", traffic_simulator_msgs::msg::WaypointsArray) // clang-format on diff --git a/simulation/traffic_simulator/include/traffic_simulator/data_type/entity_status.hpp b/simulation/traffic_simulator/include/traffic_simulator/data_type/entity_status.hpp index c02cb4b0079..68a781808a3 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/data_type/entity_status.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/data_type/entity_status.hpp @@ -44,7 +44,9 @@ class CanonicalizedEntityStatus auto set( const EntityStatus & status, const double matching_distance, const std::shared_ptr & hdmap_utils_ptr) -> void; + auto setAction(const std::string & action) -> void; + auto getActionStatus() const noexcept -> const traffic_simulator_msgs::msg::ActionStatus &; auto getTime() const noexcept -> double; auto setTime(double) -> void; diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp index 2d0fd76c432..4d780ed2343 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp @@ -69,7 +69,7 @@ class EgoEntity : public VehicleEntity auto getCurrentAction() const -> std::string override; - auto getCurrentPose() const -> geometry_msgs::msg::Pose; + auto getCurrentPose() const -> const geometry_msgs::msg::Pose &; auto getDefaultDynamicConstraints() const -> const traffic_simulator_msgs::msg::DynamicConstraints & override; @@ -135,9 +135,9 @@ class EgoEntity : public VehicleEntity template auto setStatus(Ts &&... xs) { - if (status_.getTime() > 0 && not isControlledBySimulator()) { + if (status_->getTime() > 0 && not isControlledBySimulator()) { THROW_SEMANTIC_ERROR( - "You cannot set entity status to the ego vehicle named ", std::quoted(status_.getName()), + "You cannot set entity status to the ego vehicle named ", std::quoted(status_->getName()), " after starting scenario."); } else { EntityBase::setStatus(std::forward(xs)...); diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp index f48f20377db..3509550a77d 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp @@ -71,16 +71,16 @@ class EntityBase */ \ /* */ auto get##NAME() const noexcept->TYPE { return RETURN_VARIABLE; } - DEFINE_GETTER(BoundingBox, const traffic_simulator_msgs::msg::BoundingBox &, status_.getBoundingBox()) - DEFINE_GETTER(CanonicalizedStatus, const CanonicalizedEntityStatus &, status_) + DEFINE_GETTER(BoundingBox, const traffic_simulator_msgs::msg::BoundingBox &, status_->getBoundingBox()) + DEFINE_GETTER(CanonicalizedStatus, const CanonicalizedEntityStatus &, *status_) DEFINE_GETTER(CanonicalizedStatusBeforeUpdate, const CanonicalizedEntityStatus &, status_before_update_) - DEFINE_GETTER(CurrentAccel, const geometry_msgs::msg::Accel &, status_.getAccel()) - DEFINE_GETTER(CurrentTwist, const geometry_msgs::msg::Twist &, status_.getTwist()) + DEFINE_GETTER(CurrentAccel, const geometry_msgs::msg::Accel &, status_->getAccel()) + DEFINE_GETTER(CurrentTwist, const geometry_msgs::msg::Twist &, status_->getTwist()) DEFINE_GETTER(DynamicConstraints, traffic_simulator_msgs::msg::DynamicConstraints, getBehaviorParameter().dynamic_constraints) - DEFINE_GETTER(EntitySubtype, const traffic_simulator_msgs::msg::EntitySubtype &, status_.getSubtype()) - DEFINE_GETTER(EntityType, const traffic_simulator_msgs::msg::EntityType &, status_.getType()) - DEFINE_GETTER(LinearJerk, double, status_.getLinearJerk()) - DEFINE_GETTER(MapPose, const geometry_msgs::msg::Pose &, status_.getMapPose()) + DEFINE_GETTER(EntitySubtype, const traffic_simulator_msgs::msg::EntitySubtype &, status_->getSubtype()) + DEFINE_GETTER(EntityType, const traffic_simulator_msgs::msg::EntityType &, status_->getType()) + DEFINE_GETTER(LinearJerk, double, status_->getLinearJerk()) + DEFINE_GETTER(MapPose, const geometry_msgs::msg::Pose &, status_->getMapPose()) DEFINE_GETTER(StandStillDuration, double, stand_still_duration_) DEFINE_GETTER(TraveledDistance, double, traveled_distance_) // clang-format on @@ -94,7 +94,7 @@ class EntityBase /* */ auto FUNCTION_NAME() const->bool { return BOOL_VARIABLE; } DEFINE_CHECK_FUNCTION(isNpcLogicStarted, npc_logic_started_) - DEFINE_CHECK_FUNCTION(laneMatchingSucceed, status_.laneMatchingSucceed()) + DEFINE_CHECK_FUNCTION(laneMatchingSucceed, status_->laneMatchingSucceed()) // clang-format on #undef DEFINE_CHECK_FUNCTION @@ -247,7 +247,7 @@ class EntityBase bool verbose; protected: - CanonicalizedEntityStatus status_; + std::shared_ptr status_; CanonicalizedEntityStatus status_before_update_; diff --git a/simulation/traffic_simulator/src/data_type/entity_status.cpp b/simulation/traffic_simulator/src/data_type/entity_status.cpp index bca16c13460..7bb9052dcea 100644 --- a/simulation/traffic_simulator/src/data_type/entity_status.cpp +++ b/simulation/traffic_simulator/src/data_type/entity_status.cpp @@ -90,6 +90,17 @@ auto CanonicalizedEntityStatus::set( set(status, getLaneletIds(), matching_distance, hdmap_utils_ptr); } +auto CanonicalizedEntityStatus::setAction(const std::string & action) -> void +{ + entity_status_.action_status.current_action = action; +} + +auto CanonicalizedEntityStatus::getActionStatus() const noexcept + -> const traffic_simulator_msgs::msg::ActionStatus & +{ + return entity_status_.action_status; +} + auto CanonicalizedEntityStatus::laneMatchingSucceed() const noexcept -> bool { return canonicalized_lanelet_pose_.has_value(); @@ -171,11 +182,6 @@ auto CanonicalizedEntityStatus::setLinearJerk(double linear_jerk) -> void entity_status_.action_status.linear_jerk = linear_jerk; } -auto CanonicalizedEntityStatus::setAction(const std::string & action) -> void -{ - entity_status_.action_status.current_action = action; -} - auto CanonicalizedEntityStatus::getLinearJerk() const noexcept -> double { return entity_status_.action_status.linear_jerk; diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index 5119a5e9c71..65d6c56772a 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -124,7 +124,10 @@ auto EgoEntity::getRouteLanelets(double /*unused horizon*/) -> lanelet::Ids return ids; } -auto EgoEntity::getCurrentPose() const -> geometry_msgs::msg::Pose { return status_.getMapPose(); } +auto EgoEntity::getCurrentPose() const -> const geometry_msgs::msg::Pose & +{ + return status_->getMapPose(); +} auto EgoEntity::getWaypoints() -> const traffic_simulator_msgs::msg::WaypointsArray { @@ -139,12 +142,12 @@ void EgoEntity::onUpdate(double current_time, double step_time) if ( const auto non_canonicalized_updated_status = traffic_simulator::follow_trajectory::makeUpdatedStatus( - static_cast(status_), *polyline_trajectory_, + static_cast(*status_), *polyline_trajectory_, behavior_parameter_, hdmap_utils_ptr_, step_time, getDefaultMatchingDistanceForLaneletPoseCalculation(), - target_speed_ ? target_speed_.value() : status_.getTwist().linear.x)) { + target_speed_ ? target_speed_.value() : status_->getTwist().linear.x)) { // prefer current lanelet on ss2 side - setStatus(non_canonicalized_updated_status.value(), status_.getLaneletIds()); + setStatus(non_canonicalized_updated_status.value(), status_->getLaneletIds()); } else { is_controlled_by_simulator_ = false; } @@ -279,7 +282,7 @@ auto EgoEntity::setVelocityLimit(double value) -> void // auto EgoEntity::setMapPose(const geometry_msgs::msg::Pose & map_pose) -> void { - auto entity_status = static_cast(status_); + auto entity_status = static_cast(*status_); entity_status.pose = map_pose; entity_status.lanelet_pose_valid = false; // prefer current lanelet on Autoware side diff --git a/simulation/traffic_simulator/src/entity/entity_base.cpp b/simulation/traffic_simulator/src/entity/entity_base.cpp index b350ef4b703..82dfc29921d 100644 --- a/simulation/traffic_simulator/src/entity/entity_base.cpp +++ b/simulation/traffic_simulator/src/entity/entity_base.cpp @@ -34,8 +34,8 @@ EntityBase::EntityBase( const std::shared_ptr & hdmap_utils_ptr) : name(name), verbose(true), - status_(entity_status), - status_before_update_(status_), + status_(std::make_shared(entity_status)), + status_before_update_(*status_), hdmap_utils_ptr_(hdmap_utils_ptr), npc_logic_started_(false) { @@ -67,7 +67,7 @@ auto EntityBase::get2DPolygon() const -> std::vector auto EntityBase::getCanonicalizedLaneletPose() const -> std::optional { - return status_.getCanonicalizedLaneletPose(); + return status_->getCanonicalizedLaneletPose(); } auto EntityBase::getCanonicalizedLaneletPose(double matching_distance) const @@ -80,7 +80,7 @@ auto EntityBase::getCanonicalizedLaneletPose(double matching_distance) const // prefer the current lanelet return pose::toCanonicalizedLaneletPose( - status_.getMapPose(), status_.getBoundingBox(), status_.getLaneletIds(), include_crosswalk, + status_->getMapPose(), status_->getBoundingBox(), status_->getLaneletIds(), include_crosswalk, matching_distance, hdmap_utils_ptr_); } @@ -105,7 +105,7 @@ void EntityBase::onUpdate(double /*current_time*/, double step_time) { job_list_.update(step_time, job::Event::PRE_UPDATE); step_time_ = step_time; - status_before_update_.set(status_); + status_before_update_.set(*status_); speed_planner_ = std::make_unique( step_time, name); @@ -141,7 +141,7 @@ void EntityBase::requestLaneChange( "Source entity does not assigned to lanelet. Please check source entity name : ", name, " exists on lane."); } - reference_lanelet_id = status_.getLaneletId(); + reference_lanelet_id = status_->getLaneletId(); } else { if (other_status_.find(target.entity_name) == other_status_.end()) { THROW_SEMANTIC_ERROR( @@ -531,28 +531,28 @@ void EntityBase::setOtherStatus( auto EntityBase::setStatus(const EntityStatus & status, const lanelet::Ids & lanelet_ids) -> void { - status_.set( + status_->set( status, lanelet_ids, getDefaultMatchingDistanceForLaneletPoseCalculation(), hdmap_utils_ptr_); } auto EntityBase::setStatus(const EntityStatus & status) -> void { - status_.set(status, getDefaultMatchingDistanceForLaneletPoseCalculation(), hdmap_utils_ptr_); + status_->set(status, getDefaultMatchingDistanceForLaneletPoseCalculation(), hdmap_utils_ptr_); } auto EntityBase::setCanonicalizedStatus(const CanonicalizedEntityStatus & status) -> void { - status_.set(status); + status_->set(status); } auto EntityBase::setLinearVelocity(const double linear_velocity) -> void { - status_.setLinearVelocity(linear_velocity); + status_->setLinearVelocity(linear_velocity); } auto EntityBase::setLinearAcceleration(const double linear_acceleration) -> void { - status_.setLinearAcceleration(linear_acceleration); + status_->setLinearAcceleration(linear_acceleration); } void EntityBase::setTrafficLightManager( @@ -563,20 +563,20 @@ void EntityBase::setTrafficLightManager( auto EntityBase::setTwist(const geometry_msgs::msg::Twist & twist) -> void { - status_.setTwist(twist); + status_->setTwist(twist); } auto EntityBase::setAcceleration(const geometry_msgs::msg::Accel & accel) -> void { - status_.setAccel(accel); + status_->setAccel(accel); } auto EntityBase::setLinearJerk(const double linear_jerk) -> void { - status_.setLinearJerk(linear_jerk); + status_->setLinearJerk(linear_jerk); } -auto EntityBase::setAction(const std::string & action) -> void { status_.setAction(action); } +auto EntityBase::setAction(const std::string & action) -> void { status_->setAction(action); } auto EntityBase::setMapPose(const geometry_msgs::msg::Pose &) -> void { @@ -634,14 +634,14 @@ void EntityBase::startNpcLogic(const double current_time) void EntityBase::stopAtCurrentPosition() { - status_.setTwist(geometry_msgs::msg::Twist()); - status_.setAccel(geometry_msgs::msg::Accel()); - status_.setLinearJerk(0.0); + status_->setTwist(geometry_msgs::msg::Twist()); + status_->setAccel(geometry_msgs::msg::Accel()); + status_->setLinearJerk(0.0); } void EntityBase::updateEntityStatusTimestamp(const double current_time) { - status_.setTime(current_time); + status_->setTime(current_time); } auto EntityBase::updateStandStillDuration(const double step_time) -> double diff --git a/simulation/traffic_simulator/src/entity/misc_object_entity.cpp b/simulation/traffic_simulator/src/entity/misc_object_entity.cpp index c8e650ea6e2..327eb5e4c7d 100644 --- a/simulation/traffic_simulator/src/entity/misc_object_entity.cpp +++ b/simulation/traffic_simulator/src/entity/misc_object_entity.cpp @@ -35,7 +35,7 @@ void MiscObjectEntity::onUpdate(double, double step_time) if (npc_logic_started_) { updateStandStillDuration(step_time); } - status_before_update_.set(status_); + status_before_update_.set(*status_); } auto MiscObjectEntity::getCurrentAction() const -> std::string @@ -43,7 +43,7 @@ auto MiscObjectEntity::getCurrentAction() const -> std::string if (not npc_logic_started_) { return "waiting"; } else { - return static_cast(status_).action_status.current_action; + return static_cast(*status_).action_status.current_action; } } diff --git a/simulation/traffic_simulator/src/entity/pedestrian_entity.cpp b/simulation/traffic_simulator/src/entity/pedestrian_entity.cpp index fc2d4f51d2f..091dee54eda 100644 --- a/simulation/traffic_simulator/src/entity/pedestrian_entity.cpp +++ b/simulation/traffic_simulator/src/entity/pedestrian_entity.cpp @@ -71,7 +71,7 @@ void PedestrianEntity::requestAssignRoute(const std::vectorgetBoundingBox(), true, getDefaultMatchingDistanceForLaneletPoseCalculation(), hdmap_utils_ptr_)) { route.emplace_back(canonicalized_lanelet_pose.value()); } else { @@ -109,7 +109,7 @@ auto PedestrianEntity::getDefaultDynamicConstraints() const auto PedestrianEntity::getRouteLanelets(double horizon) -> lanelet::Ids { - if (const auto canonicalized_lanelet_pose = status_.getCanonicalizedLaneletPose()) { + if (const auto canonicalized_lanelet_pose = status_->getCanonicalizedLaneletPose()) { return route_planner_.getRouteLanelets(canonicalized_lanelet_pose.value(), horizon); } else { return {}; @@ -139,7 +139,7 @@ void PedestrianEntity::requestWalkStraight() void PedestrianEntity::requestAcquirePosition(const CanonicalizedLaneletPose & lanelet_pose) { behavior_plugin_ptr_->setRequest(behavior::Request::FOLLOW_LANE); - if (status_.laneMatchingSucceed()) { + if (status_->laneMatchingSucceed()) { route_planner_.setWaypoints({lanelet_pose}); } behavior_plugin_ptr_->setGoalPoses({static_cast(lanelet_pose)}); @@ -150,7 +150,7 @@ void PedestrianEntity::requestAcquirePosition(const geometry_msgs::msg::Pose & m behavior_plugin_ptr_->setRequest(behavior::Request::FOLLOW_LANE); if ( const auto canonicalized_lanelet_pose = pose::toCanonicalizedLaneletPose( - map_pose, status_.getBoundingBox(), true, + map_pose, status_->getBoundingBox(), true, getDefaultMatchingDistanceForLaneletPoseCalculation(), hdmap_utils_ptr_)) { requestAcquirePosition(canonicalized_lanelet_pose.value()); } else { @@ -254,14 +254,12 @@ void PedestrianEntity::onUpdate(double current_time, double step_time) EntityBase::onUpdate(current_time, step_time); if (npc_logic_started_) { behavior_plugin_ptr_->setOtherEntityStatus(other_status_); - behavior_plugin_ptr_->setEntityStatus( - std::make_shared(status_)); + behavior_plugin_ptr_->setCanonicalizedEntityStatus(status_); behavior_plugin_ptr_->setTargetSpeed(target_speed_); behavior_plugin_ptr_->setRouteLanelets(getRouteLanelets()); + /// @note CanonicalizedEntityStatus is updated here, it is not skipped even if isAtEndOfLanelets return true behavior_plugin_ptr_->update(current_time, step_time); - setStatus(*behavior_plugin_ptr_->getUpdatedStatus()); - /// @note setStatus() is not skipped even if isAtEndOfLanelets return true - if (const auto canonicalized_lanelet_pose = status_.getCanonicalizedLaneletPose()) { + if (const auto canonicalized_lanelet_pose = status_->getCanonicalizedLaneletPose()) { if (pose::isAtEndOfLanelets(canonicalized_lanelet_pose.value(), hdmap_utils_ptr_)) { stopAtCurrentPosition(); updateStandStillDuration(step_time); diff --git a/simulation/traffic_simulator/src/entity/vehicle_entity.cpp b/simulation/traffic_simulator/src/entity/vehicle_entity.cpp index b6adb24c8ac..eb6a4176036 100644 --- a/simulation/traffic_simulator/src/entity/vehicle_entity.cpp +++ b/simulation/traffic_simulator/src/entity/vehicle_entity.cpp @@ -105,7 +105,7 @@ auto VehicleEntity::getObstacle() -> std::optional lanelet::Ids { - if (const auto canonicalized_lanelet_pose = status_.getCanonicalizedLaneletPose()) { + if (const auto canonicalized_lanelet_pose = status_->getCanonicalizedLaneletPose()) { return route_planner_.getRouteLanelets(canonicalized_lanelet_pose.value(), horizon); } else { return {}; @@ -120,7 +120,7 @@ auto VehicleEntity::getWaypoints() -> const traffic_simulator_msgs::msg::Waypoin try { return behavior_plugin_ptr_->getWaypoints(); } catch (const std::runtime_error & e) { - if (not status_.laneMatchingSucceed()) { + if (not status_->laneMatchingSucceed()) { THROW_SIMULATION_ERROR( "Failed to calculate waypoints in NPC logics, please check Entity : ", name, " is in a lane coordinate."); @@ -135,7 +135,7 @@ void VehicleEntity::onUpdate(double current_time, double step_time) EntityBase::onUpdate(current_time, step_time); if (npc_logic_started_) { behavior_plugin_ptr_->setOtherEntityStatus(other_status_); - behavior_plugin_ptr_->setEntityStatus(std::make_unique(status_)); + behavior_plugin_ptr_->setCanonicalizedEntityStatus(status_); behavior_plugin_ptr_->setTargetSpeed(target_speed_); auto route_lanelets = getRouteLanelets(); behavior_plugin_ptr_->setRouteLanelets(route_lanelets); @@ -152,10 +152,9 @@ void VehicleEntity::onUpdate(double current_time, double step_time) } } behavior_plugin_ptr_->setReferenceTrajectory(spline_); + /// @note CanonicalizedEntityStatus is updated here, it is not skipped even if isAtEndOfLanelets return true behavior_plugin_ptr_->update(current_time, step_time); - setStatus(*behavior_plugin_ptr_->getUpdatedStatus()); - /// @note setStatus() is not skipped even if isAtEndOfLanelets return true - if (const auto canonicalized_lanelet_pose = status_.getCanonicalizedLaneletPose()) { + if (const auto canonicalized_lanelet_pose = status_->getCanonicalizedLaneletPose()) { if (pose::isAtEndOfLanelets(canonicalized_lanelet_pose.value(), hdmap_utils_ptr_)) { stopAtCurrentPosition(); updateStandStillDuration(step_time); @@ -174,7 +173,7 @@ void VehicleEntity::onUpdate(double current_time, double step_time) void VehicleEntity::requestAcquirePosition(const CanonicalizedLaneletPose & lanelet_pose) { behavior_plugin_ptr_->setRequest(behavior::Request::FOLLOW_LANE); - if (status_.laneMatchingSucceed()) { + if (status_->laneMatchingSucceed()) { route_planner_.setWaypoints({lanelet_pose}); } behavior_plugin_ptr_->setGoalPoses({static_cast(lanelet_pose)}); @@ -185,7 +184,7 @@ void VehicleEntity::requestAcquirePosition(const geometry_msgs::msg::Pose & map_ behavior_plugin_ptr_->setRequest(behavior::Request::FOLLOW_LANE); if ( const auto canonicalized_lanelet_pose = pose::toCanonicalizedLaneletPose( - map_pose, status_.getBoundingBox(), false, + map_pose, status_->getBoundingBox(), false, getDefaultMatchingDistanceForLaneletPoseCalculation(), hdmap_utils_ptr_)) { requestAcquirePosition(canonicalized_lanelet_pose.value()); } else { @@ -213,7 +212,7 @@ void VehicleEntity::requestAssignRoute(const std::vectorgetBoundingBox(), false, getDefaultMatchingDistanceForLaneletPoseCalculation(), hdmap_utils_ptr_)) { route.emplace_back(canonicalized_lanelet_pose.value()); } else { @@ -232,7 +231,7 @@ auto VehicleEntity::requestFollowTrajectory( for (const auto & vertex : parameter->shape.vertices) { if ( const auto canonicalized_lanelet_pose = pose::toCanonicalizedLaneletPose( - vertex.position, status_.getBoundingBox(), false, + vertex.position, status_->getBoundingBox(), false, getDefaultMatchingDistanceForLaneletPoseCalculation(), hdmap_utils_ptr_)) { waypoints.emplace_back(canonicalized_lanelet_pose.value()); } else { From c1cab6eb1ece2df58982f50a78fef5a5ecaa7234 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Tue, 30 Jul 2024 00:50:29 +0000 Subject: [PATCH 057/304] Bump version of scenario_simulator_v2 from version 3.4.0 to version 3.4.1 --- common/math/arithmetic/CHANGELOG.rst | 5 +++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 5 +++++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 5 +++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 5 +++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 5 +++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 5 +++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 5 +++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 5 +++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 5 +++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 5 +++++ mock/cpp_mock_scenarios/package.xml | 2 +- openscenario/openscenario_experimental_catalog/CHANGELOG.rst | 5 +++++ openscenario/openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 5 +++++ openscenario/openscenario_interpreter/package.xml | 2 +- openscenario/openscenario_interpreter_example/CHANGELOG.rst | 5 +++++ openscenario/openscenario_interpreter_example/package.xml | 2 +- openscenario/openscenario_interpreter_msgs/CHANGELOG.rst | 5 +++++ openscenario/openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 5 +++++ openscenario/openscenario_preprocessor/package.xml | 2 +- openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst | 5 +++++ openscenario/openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 5 +++++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 5 +++++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 5 +++++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../real_time_factor_control_rviz_plugin/CHANGELOG.rst | 5 +++++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 5 +++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 5 +++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 5 +++++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 5 +++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 5 +++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 5 +++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 5 +++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 5 +++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 5 +++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 174 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index f02dfd36e72..7b6c04cbcb2 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 0898ae893af..4776b1d86b7 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.4.0 + 3.4.1 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 c6a59c5c4bf..0ee3efa0b45 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 05964560f14..255a568654e 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.4.0 + 3.4.1 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index c5e3be0275d..570387706e8 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index e67f5d199fa..3dff5760fb1 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.4.0 + 3.4.1 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 b9ee3aef00e..0b2782b93da 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 70da1e4a78b..d4b9277a8b0 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.4.0 + 3.4.1 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 e02e471460d..fe49cc3ea4d 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 56e8f7bfcd6..ade3b68ce5a 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.4.0 + 3.4.1 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 732dcf2f3d3..09953844e4f 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 9fd05b96c92..140b51e594f 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.4.0 + 3.4.1 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 f6cfac2ba57..b8da66880fe 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,11 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index f597e89ed18..17206d671a3 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.4.0 + 3.4.1 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 016de2404ea..09a29d4f889 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index b51c782f6c7..cfceebfce25 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.4.0 + 3.4.1 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 aeb9fab9012..d3a2ba16657 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,11 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 884f93aaa43..1d3ba40ee26 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.4.0 + 3.4.1 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 2f3d85c8d6a..88ee30ed5c0 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 2b6179b986b..f971dad5d0e 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.4.0 + 3.4.1 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 3b045468fa0..5584f01a717 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 74baf0143e7..4a8fda2841c 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.4.0 + 3.4.1 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 466ed93a195..633d6a844ec 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,11 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ * Merge pull request `#1325 `_ from tier4/feature/interpreter/lidar-configuration diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 24e6778cf32..4959c10deef 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.4.0 + 3.4.1 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 a2f4f8b845a..430a037ac03 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 2b6f6b35019..4c9b91216db 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.4.0 + 3.4.1 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 ccf9beef780..96cd09eb6ea 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 3db1ab61b94..b18a3f7a9ba 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.4.0 + 3.4.1 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 158a7af0db8..e1de288583e 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 4a0a90ea450..ff3cce230d6 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.4.0 + 3.4.1 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 726dfc7eb28..45a0949520f 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 1a33424fc06..b9b00b6a039 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.4.0 + 3.4.1 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 8f89eba97a6..6c2760604c4 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,11 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index f37d57df7f2..ab2e12c6b85 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.4.0 + 3.4.1 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 1d6b032c061..8eeea4a1c84 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,11 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 96a78c145e9..30348686cdc 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.4.0 + 3.4.1 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 1dd9df87bd5..474305a1de6 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 8c97d64aaf2..f140c14f106 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.4.0 + 3.4.1 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 297ef0b0971..448b4c17643 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 +21,11 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ 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 d89a824aa9b..ed803ceac17 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 - 3.4.0 + 3.4.1 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 b6ba188ebe7..6410f0674ed 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 73ecf3a5149..cee69b01c8b 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.4.0 + 3.4.1 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 b1581fb72d7..a09ba91219f 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 06c8165220b..aca3bfd10bc 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.4.0 + 3.4.1 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 7b0d77c9509..025faac304e 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 97d5240f53d..0307a928e56 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.4.0 + 3.4.1 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 04758f08c86..f2a45f9d25b 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index dbb6b9b090a..9a96c82d724 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.4.0 + 3.4.1 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index ed933162281..187a8a14b90 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 75b6c33cd3b..d6d2668063d 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.4.0 + 3.4.1 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 fabffcfe75c..b2979f9d273 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ * Merge pull request `#1325 `_ from tier4/feature/interpreter/lidar-configuration diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 087d6eeaf26..585537d7a8a 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.4.0 + 3.4.1 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index bfe7977a389..0a0876b5856 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 3391bbe7a1b..29d83e0fd73 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.4.0 + 3.4.1 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 8479b47387b..d5aa32cb2f2 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index d272ee3bc68..06bc95d02c7 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.4.0 + 3.4.1 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 1f8fc2ce7c3..71adb8b8e11 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,11 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.1 (2024-07-30) +------------------ +* Merge branch 'master' into doc/open_scenario_support +* Contributors: Tatsuya Yamasaki + 3.4.0 (2024-07-26) ------------------ * Merge pull request `#1325 `_ from tier4/feature/interpreter/lidar-configuration diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 12be8f20a1e..80a6d8ba53c 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.4.0 + 3.4.1 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 57a3f922c56e8fda7bbdd5c189593ab6fa4c0e59 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Tue, 30 Jul 2024 14:17:22 +0200 Subject: [PATCH 058/304] 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zZRzX2LHG6^U~HsT^o(cf(o1_Im`HyY^br^XuvzcY&3$h+`idCV&2@&jnRU@&&SUALu2t_QNBq0xPmVFK4s&wCQ(mc0)t{c# zJRwlk&rl#=Hvz?aGGh~%(~`DylV^jO(8Uq$^w*I|g-mlG{xxt1oJM~v&>6mJRJm*c z3gZ72<`6?ybxI6;&*eI&1C)E}*$siudggmI#8-8sXEx6)#@+(azy|sZDJJIMd!&FO z<1T}_9;&>gq5T8shpb}S461l3&xZhhnRBTJZT5h9o|hkr#VW8Z0v_s6ewb^Q?2)YM zKy(i}VnQDQ>caC8ewRZ26OaR>ji3P=p|^qT{}@^9S1!CS>9dZ$PvEHr?F3)@OL+1%c?uM3 z#cwceVrOc17JcGu?kjG>drbR#cmru`9(}XNRzuH$gN&Vq5?9^JoBNnJ@QT8NZ{i@| zqvJC%GCEc|=HH2#_Y|zBYo3WgA>`jt4w5fBGi!;y~$ZP^y>p1-^&>7J2AUW-0U>Il*&}*Kp*t1&Gd_N!o?Z|r4 zXG$iArQ#3kxbn3RR->wey(-sX3rRk(^ zT)%l6HT2V>ev>wJTDNW<(Tn(R&L+* 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: + + \ No newline at end of file From 6e359a10a71a5ced017a0d18d0ac9b1b6f1ac773 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Tue, 30 Jul 2024 15:11:53 +0200 Subject: [PATCH 059/304] doc(scenario_test_runnrer): fix spell and link --- .github/workflows/custom_spell.json | 1 + docs/user_guide/scenario_test_runner/RealtimeFactor.md | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) 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/docs/user_guide/scenario_test_runner/RealtimeFactor.md b/docs/user_guide/scenario_test_runner/RealtimeFactor.md index 3cce38d5c06..25b20964ac7 100644 --- a/docs/user_guide/scenario_test_runner/RealtimeFactor.md +++ b/docs/user_guide/scenario_test_runner/RealtimeFactor.md @@ -46,5 +46,5 @@ It is possible to modify the speed of simulation (the speed of time published on - The process of adding the panel is also visible in the video: \ No newline at end of file From 69bc2a36c740fd2d1befb7a803b515f0637b865b Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Tue, 30 Jul 2024 15:31:05 +0200 Subject: [PATCH 060/304] doc(simulator_test_runner): add EOF to RealtimeFactor --- docs/user_guide/scenario_test_runner/RealtimeFactor.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/user_guide/scenario_test_runner/RealtimeFactor.md b/docs/user_guide/scenario_test_runner/RealtimeFactor.md index 25b20964ac7..ad7d2847b8b 100644 --- a/docs/user_guide/scenario_test_runner/RealtimeFactor.md +++ b/docs/user_guide/scenario_test_runner/RealtimeFactor.md @@ -47,4 +47,4 @@ It is possible to modify the speed of simulation (the speed of time published on \ No newline at end of file + From da85edf4956083563715daa3d60f0da1f94a423d Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Tue, 30 Jul 2024 15:37:11 +0200 Subject: [PATCH 061/304] feat(params): set use_sim_time default as True --- .../simple_sensor_simulator/src/simple_sensor_simulator.cpp | 2 +- .../scenario_test_runner/launch/scenario_test_runner.launch.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp b/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp index 4f3c1130989..143d836768d 100644 --- a/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp +++ b/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp @@ -230,7 +230,7 @@ auto ScenarioSimulator::spawnVehicleEntity( simulation_interface::toMsg(req.pose(), initial_status.pose); ego_entity_simulation_ = std::make_shared( initial_status, parameters, step_time_, hdmap_utils_, - get_parameter_or("use_sim_time", rclcpp::Parameter("use_sim_time", false)), + get_parameter_or("use_sim_time", rclcpp::Parameter("use_sim_time", true)), get_consider_acceleration_by_road_slope()); } else { vehicles_.emplace_back(req.parameters()); 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..961cd9a5f5d 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 @@ -81,7 +81,7 @@ def launch_setup(context, *args, **kwargs): scenario = LaunchConfiguration("scenario", default=Path("/dev/null")) sensor_model = LaunchConfiguration("sensor_model", default="") sigterm_timeout = LaunchConfiguration("sigterm_timeout", default=8) - use_sim_time = LaunchConfiguration("use_sim_time", default=False) + use_sim_time = LaunchConfiguration("use_sim_time", default=True) vehicle_model = LaunchConfiguration("vehicle_model", default="") # fmt: on From 4b1a8d916d345c65c68336ed2da508bd5d7a44f7 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Tue, 30 Jul 2024 16:07:14 +0200 Subject: [PATCH 062/304] doc(scenario_test_runner): adapt doc to changes in use_sim_time --- .../scenario_test_runner/RealtimeFactor.md | 48 +++++++++++++++---- 1 file changed, 38 insertions(+), 10 deletions(-) diff --git a/docs/user_guide/scenario_test_runner/RealtimeFactor.md b/docs/user_guide/scenario_test_runner/RealtimeFactor.md index ad7d2847b8b..c0da846dd97 100644 --- a/docs/user_guide/scenario_test_runner/RealtimeFactor.md +++ b/docs/user_guide/scenario_test_runner/RealtimeFactor.md @@ -5,16 +5,6 @@ It is possible to modify the speed of simulation (the speed of time published on - from the start of the simulation (using parameter), - during the simulation (using the GUI slider). - -!!! Warning - Parameter `use_sim_time` of `openscenario_interpreter` is false by default and should not be modified. - - | use_sim_time launch parameter | /clock time published by SS2 | AWF Autoware Time | - |-------------------------------|------------------------------|---------------------| - | false (default) | walltime | walltime | - | true (not supported) | - | - | - - ## 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). @@ -48,3 +38,41 @@ It is possible to modify the speed of simulation (the speed of time published on + + +## Configure `use_sim_time` parameter + +Parameter `use_sim_time` of `openscenario_interpreter` is true 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 \ + 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:=False + ``` + +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 SS2 | AWF Autoware Time | +| ----------------------------- | ---------------------------- | ---------------------- | +| false | walltime | walltime from /clock | +| true (default) | simulation | simulation from /clock | + +Below are also some bullet points explaining the impact of the `use_sim_time` parameter on `SS2` and `Autoware`: + + - **`use_sim_time:=True` passed using command line (default value)** + - Both Autoware and SS2 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** + - Both Autoware and SS2 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. \ No newline at end of file From f7a1d7c54ed8f63078ba3e7030467f62ed3289a5 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Tue, 30 Jul 2024 16:09:28 +0200 Subject: [PATCH 063/304] doc(scenario_test_runner): add EOF to RealtimeFactor --- docs/user_guide/scenario_test_runner/RealtimeFactor.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/user_guide/scenario_test_runner/RealtimeFactor.md b/docs/user_guide/scenario_test_runner/RealtimeFactor.md index c0da846dd97..08c70f3249d 100644 --- a/docs/user_guide/scenario_test_runner/RealtimeFactor.md +++ b/docs/user_guide/scenario_test_runner/RealtimeFactor.md @@ -75,4 +75,4 @@ Below are also some bullet points explaining the impact of the `use_sim_time` pa - Both Autoware and SS2 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. \ No newline at end of file + - Simulation time **can be** controlled by RViz plugin. From 8ebd1673c275e4c315fa6a8c1b809abf2ed95c96 Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Tue, 30 Jul 2024 17:21:03 +0200 Subject: [PATCH 064/304] feat: Enhance IMU sensor configuration and initialization - Added frame_id to ImuSensorConfiguration - Separated noise standard deviations for orientation, twist, and acceleration - Updated ImuSensorBase and ImuSensor classes for new noise distributions --- .../simulator_core.hpp | 6 ++- .../sensor_simulation/imu/imu_sensor.hpp | 36 ++++++++++++--- .../src/sensor_simulation/imu/imu_sensor.cpp | 44 +++++++++++-------- .../proto/simulation_api_schema.proto | 14 +++--- 4 files changed, 66 insertions(+), 34 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp index 27ddf6fab82..e025642f819 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp @@ -337,11 +337,13 @@ class SimulatorCore core->attachImuSensor(entity_ref, [&]() { simulation_api_schema::ImuSensorConfiguration configuration; configuration.set_entity(entity_ref); + configuration.set_frame_id("tamagawa/imu_link"); configuration.set_add_gravity(true); - configuration.set_add_noise(false); configuration.set_use_seed(true); configuration.set_seed(0); - configuration.set_noise_standard_deviation(0.01); + configuration.set_noise_standard_deviation_orientation(0.01); + configuration.set_noise_standard_deviation_twist(0.01); + configuration.set_noise_standard_deviation_acceleration(0.01); return configuration; }()); diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp index 9ec044b3801..03a1c7313a7 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp @@ -17,6 +17,7 @@ #include +#include #include #include #include @@ -32,10 +33,16 @@ class ImuSensorBase public: explicit ImuSensorBase(const simulation_api_schema::ImuSensorConfiguration & configuration) : add_gravity_(configuration.add_gravity()), - add_noise_(configuration.add_noise()), - noise_standard_deviation_(add_noise_ ? configuration.noise_standard_deviation() : 0.0), + noise_standard_deviation_orientation_(configuration.noise_standard_deviation_orientation()), + noise_standard_deviation_twist_(configuration.noise_standard_deviation_twist()), + noise_standard_deviation_acceleration_(configuration.noise_standard_deviation_acceleration()), random_generator_(configuration.use_seed() ? configuration.seed() : std::random_device{}()), - noise_distribution_(0.0, noise_standard_deviation_) + noise_distribution_orientation_(0.0, noise_standard_deviation_orientation_), + noise_distribution_twist_(0.0, noise_standard_deviation_twist_), + noise_distribution_acceleration_(0.0, noise_standard_deviation_acceleration_), + orientation_covariance_(calculateCovariance(noise_standard_deviation_orientation_)), + angular_velocity_covariance_(calculateCovariance(noise_standard_deviation_twist_)), + linear_acceleration_covariance_(calculateCovariance(noise_standard_deviation_acceleration_)) { } @@ -47,10 +54,21 @@ class ImuSensorBase protected: const bool add_gravity_; - const bool add_noise_; - const double noise_standard_deviation_; + const double noise_standard_deviation_orientation_; + const double noise_standard_deviation_twist_; + const double noise_standard_deviation_acceleration_; mutable std::mt19937 random_generator_; - mutable std::normal_distribution<> noise_distribution_; + mutable std::normal_distribution<> noise_distribution_orientation_; + mutable std::normal_distribution<> noise_distribution_twist_; + mutable std::normal_distribution<> noise_distribution_acceleration_; + const std::array orientation_covariance_; + const std::array angular_velocity_covariance_; + const std::array linear_acceleration_covariance_; + + auto calculateCovariance(const double stddev) const -> std::array + { + return {std::pow(stddev, 2), 0, 0, 0, std::pow(stddev, 2), 0, 0, 0, std::pow(stddev, 2)}; + }; }; template @@ -60,7 +78,10 @@ class ImuSensor : public ImuSensorBase explicit ImuSensor( const simulation_api_schema::ImuSensorConfiguration & configuration, const typename rclcpp::Publisher::SharedPtr & publisher) - : ImuSensorBase(configuration), entity_name_(configuration.entity()), publisher_(publisher) + : ImuSensorBase(configuration), + entity_name_(configuration.entity()), + frame_id_(configuration.frame_id()), + publisher_(publisher) { } @@ -85,6 +106,7 @@ class ImuSensor : public ImuSensorBase const traffic_simulator_msgs::msg::EntityStatus & status) const -> const MessageType; const std::string entity_name_; + const std::string frame_id_; const typename rclcpp::Publisher::SharedPtr publisher_; }; } // namespace simple_sensor_simulator diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp index 25967c51f7e..9a86e1a3731 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp @@ -16,6 +16,7 @@ #include #include +#include #include #include #include @@ -27,25 +28,30 @@ auto ImuSensor::generateMessage( const rclcpp::Time & current_ros_time, const traffic_simulator_msgs::msg::EntityStatus & status) const -> const sensor_msgs::msg::Imu { - const auto applyNoise = [&](geometry_msgs::msg::Vector3 & v) { - v.x += noise_distribution_(random_generator_); - v.y += noise_distribution_(random_generator_); - v.z += noise_distribution_(random_generator_); - }; + const auto applyNoise = + [&](geometry_msgs::msg::Vector3 & v, std::normal_distribution<> & distribution) { + v.x += distribution(random_generator_); + v.y += distribution(random_generator_); + v.z += distribution(random_generator_); + }; auto imu_msg = sensor_msgs::msg::Imu(); imu_msg.header.stamp = current_ros_time; - imu_msg.header.frame_id = "tamagawa/imu_link"; + imu_msg.header.frame_id = frame_id_; auto orientation_rpy = math::geometry::convertQuaternionToEulerAngle(status.pose.orientation); auto twist = status.action_status.twist; auto accel = status.action_status.accel; // Apply noise - if (add_noise_) { - applyNoise(orientation_rpy); - applyNoise(twist.angular); - applyNoise(accel.linear); + if (noise_standard_deviation_orientation_ > 0.0) { + applyNoise(orientation_rpy, noise_distribution_orientation_); + } + if (noise_standard_deviation_twist_ > 0.0) { + applyNoise(twist.angular, noise_distribution_twist_); + } + if (noise_standard_deviation_acceleration_ > 0.0) { + applyNoise(accel.linear, noise_distribution_acceleration_); } // Apply gravity @@ -70,15 +76,15 @@ auto ImuSensor::generateMessage( imu_msg.linear_acceleration.z = accel.linear.z; // Set covariance - imu_msg.orientation_covariance = {std::pow(noise_standard_deviation_, 2), 0, 0, 0, - std::pow(noise_standard_deviation_, 2), 0, 0, 0, - std::pow(noise_standard_deviation_, 2)}; - imu_msg.angular_velocity_covariance = {std::pow(noise_standard_deviation_, 2), 0, 0, 0, - std::pow(noise_standard_deviation_, 2), 0, 0, 0, - std::pow(noise_standard_deviation_, 2)}; - imu_msg.linear_acceleration_covariance = {std::pow(noise_standard_deviation_, 2), 0, 0, 0, - std::pow(noise_standard_deviation_, 2), 0, 0, 0, - std::pow(noise_standard_deviation_, 2)}; + std::copy( + orientation_covariance_.begin(), orientation_covariance_.end(), + imu_msg.orientation_covariance.data()); + std::copy( + angular_velocity_covariance_.begin(), angular_velocity_covariance_.end(), + imu_msg.angular_velocity_covariance.data()); + std::copy( + linear_acceleration_covariance_.begin(), linear_acceleration_covariance_.end(), + imu_msg.linear_acceleration_covariance.data()); return imu_msg; } } // namespace simple_sensor_simulator diff --git a/simulation/simulation_interface/proto/simulation_api_schema.proto b/simulation/simulation_interface/proto/simulation_api_schema.proto index a76df569687..03d1e0e6252 100644 --- a/simulation/simulation_interface/proto/simulation_api_schema.proto +++ b/simulation/simulation_interface/proto/simulation_api_schema.proto @@ -37,12 +37,14 @@ message PseudoTrafficLightDetectorConfiguration { * Parameter configuration of the imu sensor **/ message ImuSensorConfiguration { - string entity = 1; // Name of the entity which you want to attach imu. - bool add_gravity = 2; // If true, gravity will be added to the acceleration vector - bool add_noise = 3; // If true, noise will be added to every vector published - bool use_seed = 4; // If true, as seed will be used the passed value, if not it will be random - int32 seed = 5; // Seed for random number generator - double noise_standard_deviation = 6; // Standard deviation for noise (normal distribution, mean equal to 0.0) + string entity = 1; // Name of the entity which you want to attach imu. + string frame_id = 2; // Frame ID for the IMU sensor + bool add_gravity = 3; // If true, gravity will be added to the acceleration vector + bool use_seed = 4; // If true, as seed will be used the passed value, if not it will be random + int32 seed = 5; // Seed for random number generator + double noise_standard_deviation_orientation = 6; // The standard deviation for orientation noise (normal distribution, mean = 0.0) + double noise_standard_deviation_twist = 7; // The standard deviation for angular velocity noise (normal distribution, mean = 0.0) + double noise_standard_deviation_acceleration = 8; // The standard deviation for linear acceleration noise (normal distribution, mean = 0.0) } /** From 2b40fcb7e792dc5389bd67b85867b052b29b03af Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Tue, 30 Jul 2024 17:21:43 +0200 Subject: [PATCH 065/304] docs: Update the communication document for this IMU topic --- docs/developer_guide/Communication.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/developer_guide/Communication.md b/docs/developer_guide/Communication.md index 1157fd965c9..b4bc8293b5f 100644 --- a/docs/developer_guide/Communication.md +++ b/docs/developer_guide/Communication.md @@ -36,6 +36,7 @@ | `/perception/object_recognition/ground_truth/objects` | [`autoware_auto_perception_msgs/msg/TrackedObjects`](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/TrackedObjects.idl) | [Simulated by simple_sensor_simulator](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#object-detection-results-simulation) | | `/perception/obstacle_segmentation/pointcloud` | [`sensor_msgs/msg/PointCloud2`](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg) | [Simulated by simple_sensor_simulator](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#lidar-simulation) | | `/perception/occupancy_grid_map/map` | [`nav_msgs/msg/OccupancyGrid`](https://github.com/ros2/common_interfaces/blob/master/nav_msgs/msg/OccupancyGrid.msg) | [Simulated by simple_sensor_simulator](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#occupancy-grid-sensor-simulation) | +| `/sensing/imu/imu_data` | [`sensor_msgs/msg/Imu`](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Imu.msg) | | | `/perception/traffic_light_recognition/traffic_signals` | [`autoware_auto_perception_msgs/msg/TrafficSignalArray`](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/TrafficSignalArray.idl) | for `architecture_type` equal to `awf/universe` | | `/perception/traffic_light_recognition/internal/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | for `architecture_type` greater or equal to `awf/universe/20230906` | | `/perception/traffic_light_recognition/external/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | | From 1904b2a68943bbe5e01d3f811c9bb01c2b7e2f01 Mon Sep 17 00:00:00 2001 From: koki suzuki Date: Wed, 31 Jul 2024 10:28:33 +0900 Subject: [PATCH 066/304] chore: Update Longitudinal_control.md with additional details for requestSpeedChange API --- docs/developer_guide/Longitudinal_control.md | 4 +++- .../requestSpeedChange.png | Bin 333205 -> 361360 bytes 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/docs/developer_guide/Longitudinal_control.md b/docs/developer_guide/Longitudinal_control.md index f886d60ef48..aad9f112204 100644 --- a/docs/developer_guide/Longitudinal_control.md +++ b/docs/developer_guide/Longitudinal_control.md @@ -50,12 +50,14 @@ If `continuous` is set to `false`, job to accelerate to target speed will be del When `constraint` is set to `LONGITUDINAL_ACCELERATION`, the entity will accelerate to the target speed with acceleration rate you set. - If `transition` is set to `LINEAR`, the entity will accelerate to the target speed linearly. - If `transition` is set to `AUTO`, it will change the maximum acceleration speed of the entity and append the job to change the target speed of the npc to the job queue. After the npc reaches the target speed, it will change the maximum acceleration speed back to the original value. -- If `transition` is set to `STEP`, it +- If `transition` is set to `STEP`, it will When `constraint` is set to `TIME`, the entity will accelerate to the target speed by the time you set. When `constraint` is set to `NONE`, is will append the job to change the target_speed of the npc to the job queue. +`change target speed` block in the below figure is the highest priority compared to other blocks. +If target speed is set somewhere else, the entity will try to change the speed to the target speed under acceleration/deceleration constraints set by the user or if not by the default value. ![requestSpeedChange](../images/Longitudinal_control/requestSpeedChange.png) diff --git a/docs/developer_guide/images/Longitudinal_control/requestSpeedChange.png b/docs/developer_guide/images/Longitudinal_control/requestSpeedChange.png index 66a7e96bb5a6108d4b012c37b141f73613d364e6..6b81cf53ba364aac6352bebf871640444bde123a 100644 GIT binary patch literal 361360 zcmb?@c_7ql-**^ADoUuVC1eRDAro4VUCF*iB5TOLjL~Ve71@_jD%rE|h6-7Sgsdam zSh9^}3}fcKess?JKF_(|`^j^kzjDg?UDx&9zn|~&R9jPd|K4MJckSA>U*+1>8@qNf z!glT2eU)xE_!~W>?i~1o%I${o#98Ktxu3Vg5U<-}!`-^Q8*UTsfcc{IF$s 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zRS^Bq*NrOoZAm{sU3~0iX44vYzklihW6;~Sq;{=?gN*|{^oE&!f5i0BLyq4$&vTs( z$K0h#fk2UlsupERJea<~ffTEVQ6dN>l*-`MonQ`9! zDSg(*GPBbOrESM)RX#!rL=BDJU^!j#iT({89tFD>ZO^^DibE(%t`T`W>UOnXB0c90 zhw`gRa&1e9KW0EMM>UGZbkkSjK_JE-U|42UIPk~giFJD{%5_WrnWH+5cqXZO2ROEQ z$nk>Ac1HhwZ@0?f5{b$PsO|pQF4f0$!4fFsX#RbCiCVxCrOM~B7054)GikRzl$2@I z0y~UG3mA7=9!9YLYSc^$4bZcW8CPbs)$F8-j3sn5qN$qJ2U~w|HOtXgHu%E5u4eGj zq{jHlz1);#RPcvvzhr`%4VWcV5oKHS5K8H7i5%*5daWLElbRPgAn_! z3==?q>js|T{6noo-G7yGW8>F=WLl2Sw_v_F^B_5y?HfdKb;_D>dI9Tz_vHx!zw<)A zok&7_d_2;YYZY|4a1?n$_?A9KwnnaTt|VAz@Yx%DKyx8LsIQTsBbi+T>EZ18XY zok>NF{TD_M_4-NGx-6B$*z_t6+zC{c*@kZlBp4=y`JF4rJatb_FO+QoPGqtmrO7rn z&va+;f9ZvtJT5A73?t|FDVAo&ci8L3lKG2X^G0oIvCkON^{&A4nCoHE!Dh3q%l|jY zoJCD827lujEngw>k2TwkYt`@{D=_Oc;@_eFrvkw|ky)osv0O1VxNZBd#{WZsUknyS WF+syvHD%l>CZ>i~1|RRZMgIrtJ)0Z= literal 0 HcmV?d00001 From 5f8697b06cfbb00a2cf793d400ece0d700979cec Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 31 Jul 2024 19:25:39 +0900 Subject: [PATCH 071/304] feat: improve description output of RelativeClearanceCondition --- .../syntax/relative_clearance_condition.cpp | 23 ++++++++++++++++--- 1 file changed, 20 insertions(+), 3 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index 5d210b1f039..ba584c7edb4 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -55,12 +55,29 @@ auto RelativeClearanceCondition::description() const -> String { std::stringstream description; - description << triggering_entities.description() - << "'s have relative clearance to given entities ["; + description << triggering_entities.description() << " have clearances to given entities ["; print_to(description, entity_refs); - description << "]?"; + description << "] with relative longitudinal ranges ( forward: " << distance_forward + << ", backward: " << distance_backward << " ) and relative lateral ranges ["; + + if (relative_lane_range.empty()) { + description << "all lanes"; + } else { + for (auto range = relative_lane_range.begin(); range != relative_lane_range.end(); range++) { + description << ((range != relative_lane_range.begin()) ? std::string(", ") : std::string("")) + << range->from << " to " << range->to; + } + } + + description << "] "; + + if (opposite_lanes) { + description << " including opposite lanes?"; + } else { + description << " excluding opposite lanes?"; + } return description.str(); } From 8a055492398c3af84bfbedca5631e82e6792edcf Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Wed, 31 Jul 2024 15:25:01 +0200 Subject: [PATCH 072/304] feat(traffic_controller, api): add rviz marker for TrafficSink --- .../traffic/traffic_controller.hpp | 2 ++ .../traffic/traffic_module_base.hpp | 3 ++ .../traffic/traffic_sink.hpp | 6 +++- simulation/traffic_simulator/src/api/api.cpp | 1 + .../src/traffic/traffic_controller.cpp | 15 ++++++++- .../src/traffic/traffic_sink.cpp | 33 ++++++++++++++++++- 6 files changed, 57 insertions(+), 3 deletions(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_controller.hpp b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_controller.hpp index ac47927668d..75c2a53ea83 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_controller.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_controller.hpp @@ -46,6 +46,7 @@ class TrafficController const std::function(void)> & get_entity_names_function, const std::function & get_entity_pose_function, const std::function & despawn_function, bool auto_sink = false); + template void addModule(Ts &&... xs) { @@ -53,6 +54,7 @@ class TrafficController modules_.emplace_back(module_ptr); } void execute(const double current_time, const double step_time); + auto makeDebugMarker() const -> const visualization_msgs::msg::MarkerArray; private: void autoSink(); diff --git a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp index 816e2c2faf2..e21e73b8a0f 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp @@ -26,6 +26,8 @@ #ifndef TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_MODULE_BASE_HPP_ #define TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_MODULE_BASE_HPP_ +#include + namespace traffic_simulator { namespace traffic @@ -35,6 +37,7 @@ class TrafficModuleBase public: TrafficModuleBase() {} virtual void execute(const double current_time, const double step_time) = 0; + virtual auto makeDebugMarker(visualization_msgs::msg::MarkerArray &) const -> void{}; }; } // namespace traffic } // namespace traffic_simulator diff --git a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp index a6c68b1bfbc..5ec17397636 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp @@ -26,6 +26,8 @@ #ifndef TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_SINK_HPP_ #define TRAFFIC_SIMULATOR__TRAFFIC__TRAFFIC_SINK_HPP_ +#include + #include #include #include @@ -40,13 +42,15 @@ class TrafficSink : public TrafficModuleBase { public: explicit TrafficSink( - double radius, const geometry_msgs::msg::Point & position, + lanelet::Id lanelet_id, double radius, const geometry_msgs::msg::Point & position, const std::function(void)> & get_entity_names_function, const std::function & get_entity_pose_function, const std::function & despawn_function); + const lanelet::Id lanelet_id; const double radius; const geometry_msgs::msg::Point position; void execute(const double current_time, const double step_time) override; + auto makeDebugMarker(visualization_msgs::msg::MarkerArray & marker_array) const -> void override; private: const std::function(void)> get_entity_names_function; diff --git a/simulation/traffic_simulator/src/api/api.cpp b/simulation/traffic_simulator/src/api/api.cpp index e001270d6d9..0bf4e86a742 100644 --- a/simulation/traffic_simulator/src/api/api.cpp +++ b/simulation/traffic_simulator/src/api/api.cpp @@ -355,6 +355,7 @@ bool API::updateFrame() clock_.update(); clock_pub_->publish(clock_.getCurrentRosTimeAsMsg()); debug_marker_pub_->publish(entity_manager_ptr_->makeDebugMarker()); + debug_marker_pub_->publish(traffic_controller_ptr_->makeDebugMarker()); return true; } diff --git a/simulation/traffic_simulator/src/traffic/traffic_controller.cpp b/simulation/traffic_simulator/src/traffic/traffic_controller.cpp index 0b87733cc37..27a5d42fd57 100644 --- a/simulation/traffic_simulator/src/traffic/traffic_controller.cpp +++ b/simulation/traffic_simulator/src/traffic/traffic_controller.cpp @@ -61,7 +61,8 @@ void TrafficController::autoSink() lanelet_pose.s = laneletLength(lanelet_id, hdmap_utils_); const auto pose = toMapPose(lanelet_pose, hdmap_utils_); addModule( - 1, pose.position, get_entity_names_function, get_entity_pose_function, despawn_function); + lanelet_id, 1, pose.position, get_entity_names_function, get_entity_pose_function, + despawn_function); } } } @@ -72,5 +73,17 @@ void TrafficController::execute(const double current_time, const double step_tim module->execute(current_time, step_time); } } + +auto TrafficController::makeDebugMarker() const -> const visualization_msgs::msg::MarkerArray +{ + static const auto marker_array = [&]() { + visualization_msgs::msg::MarkerArray marker_array; + for (size_t i = 0; i < modules_.size(); ++i) { + modules_[i]->makeDebugMarker(marker_array); + } + return marker_array; + }(); + return marker_array; +} } // namespace traffic } // namespace traffic_simulator diff --git a/simulation/traffic_simulator/src/traffic/traffic_sink.cpp b/simulation/traffic_simulator/src/traffic/traffic_sink.cpp index c98fcdf95bd..32934506e23 100644 --- a/simulation/traffic_simulator/src/traffic/traffic_sink.cpp +++ b/simulation/traffic_simulator/src/traffic/traffic_sink.cpp @@ -23,8 +23,10 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include #include #include +#include #include #include #include @@ -36,11 +38,12 @@ namespace traffic_simulator namespace traffic { TrafficSink::TrafficSink( - double radius, const geometry_msgs::msg::Point & position, + lanelet::Id lanelet_id, double radius, const geometry_msgs::msg::Point & position, const std::function(void)> & get_entity_names_function, const std::function & get_entity_pose_function, const std::function & despawn_function) : TrafficModuleBase(), + lanelet_id(lanelet_id), radius(radius), position(position), get_entity_names_function(get_entity_names_function), @@ -60,5 +63,33 @@ void TrafficSink::execute( } } } + +auto TrafficSink::makeDebugMarker(visualization_msgs::msg::MarkerArray & marker_array) const -> void +{ + const auto lanelet_text = std::to_string(lanelet_id); + visualization_msgs::msg::Marker traffic_sink_marker; + traffic_sink_marker.header.frame_id = "map"; + traffic_sink_marker.ns = "traffic_controller/traffic_sink/" + lanelet_text; + traffic_sink_marker.id = 0; + traffic_sink_marker.action = traffic_sink_marker.ADD; + traffic_sink_marker.type = 3; // cylinder + traffic_sink_marker.pose = + geometry_msgs::build().position(position).orientation( + geometry_msgs::build().x(0).y(0).z(0).w(1)); + traffic_sink_marker.color = color_names::makeColorMsg("firebrick", 0.99); + traffic_sink_marker.scale.x = radius * 2; + traffic_sink_marker.scale.y = radius * 2; + traffic_sink_marker.scale.z = 1.0; + marker_array.markers.emplace_back(traffic_sink_marker); + + visualization_msgs::msg::Marker text_marker; + text_marker = traffic_sink_marker; + text_marker.id = 1; + text_marker.type = 9; //text + text_marker.text = lanelet_text; + text_marker.color = color_names::makeColorMsg("white", 0.99); + text_marker.scale.z = 0.6; + marker_array.markers.emplace_back(text_marker); +} } // namespace traffic } // namespace traffic_simulator From ed58cb9423546eef323f5bcca56a313b60db8506 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Fri, 2 Aug 2024 12:58:37 +0900 Subject: [PATCH 073/304] Update test scenario `ByValueCondition.UserDefinedValueCondition.yaml` Signed-off-by: yamacir-kit --- ...ueCondition.UserDefinedValueCondition.yaml | 149 ++++++++---------- 1 file changed, 70 insertions(+), 79 deletions(-) diff --git a/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml b/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml index 0b340721977..502188c68f4 100644 --- a/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml +++ b/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml @@ -8,7 +8,9 @@ OpenSCENARIO: ParameterDeclarations: ParameterDeclaration: [] CatalogLocations: - CatalogLocation: [] + VehicleCatalog: + Directory: + path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle RoadNetwork: LogicFile: filepath: $(find-pkg-share kashiwanoha_map)/map @@ -17,45 +19,32 @@ OpenSCENARIO: Entities: ScenarioObject: - name: ego - Vehicle: + CatalogReference: + catalogName: sample_vehicle + entryName: sample_vehicle + ObjectController: + Controller: + name: '' + Properties: + Property: + - name: isEgo + value: 'true' + - name: barricade + MiscObject: + mass: 1.0 + miscObjectCategory: obstacle name: '' - vehicleCategory: car BoundingBox: Center: x: 0 y: 0 - z: 1.25 + z: 0 Dimensions: - width: 2.25 - length: 4.77 - height: 2.5 - Performance: - maxSpeed: 50 - maxAcceleration: INF - maxDeceleration: INF - Axles: - FrontAxle: - maxSteering: 0.5236 - wheelDiameter: 0.6 - trackWidth: 4 - positionX: 1 - positionZ: 0.3 - RearAxle: - maxSteering: 0.5236 - wheelDiameter: 0.6 - trackWidth: 4 - positionX: 0 - positionZ: 0.3 + width: 10 + length: 1 + height: 10 Properties: Property: [] - ObjectController: - Controller: - name: '' - Properties: - Property: - - { name: isEgo, value: 'true' } - - { name: maxJerk, value: 1.5 } - - { name: minJerk, value: -1.5 } Storyboard: Init: Actions: @@ -69,33 +58,30 @@ OpenSCENARIO: laneId: '34513' s: 0 offset: 0 - Orientation: + Orientation: &ORIENTATION_ZERO type: relative h: 0 p: 0 r: 0 - RoutingAction: AcquirePositionAction: - Position: + Position: &EGO_DESTINATION LanePosition: roadId: '' laneId: '34507' s: 50 offset: 0 - Orientation: - type: relative - h: 0 - p: 0 - r: 0 - - LongitudinalAction: - SpeedAction: - SpeedActionDynamics: - dynamicsDimension: time - value: 0 - dynamicsShape: step - SpeedActionTarget: - AbsoluteTargetSpeed: - value: 2.778 + Orientation: *ORIENTATION_ZERO + - entityRef: barricade + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: 34513 + s: 20 + offset: 0 + Orientation: *ORIENTATION_ZERO Story: - name: '' Act: @@ -133,26 +119,8 @@ OpenSCENARIO: - entityRef: ego EntityCondition: ReachPositionCondition: - Position: - LanePosition: - roadId: '' - laneId: '34507' - s: 50 - offset: 0 - Orientation: - type: relative - h: 0 - p: 0 - r: 0 + Position: *EGO_DESTINATION tolerance: 0.5 - - name: '' - delay: 0 - conditionEdge: none - ByValueCondition: - UserDefinedValueCondition: - name: ego.currentState - rule: equalTo - value: ArrivedGoal Action: - name: '' UserDefinedAction: @@ -163,23 +131,46 @@ OpenSCENARIO: StartTrigger: ConditionGroup: - Condition: - - name: '' + - &COUNT_UP + name: '' delay: 0 conditionEdge: none ByValueCondition: UserDefinedValueCondition: - name: /count_up - value: 500 + name: /count_up # ros2 run openscenario_interpreter_example count_up + value: 100 rule: greaterThan - # - Condition: - - name: '' - delay: 0 - conditionEdge: none - ByValueCondition: - UserDefinedValueCondition: - name: /timeout - value: true - rule: equalTo + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP Action: - name: '' UserDefinedAction: From 714dd8eda6fdd4cc190d5989610222a32be77e17 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Mon, 5 Aug 2024 00:10:15 +0000 Subject: [PATCH 074/304] Bump version of scenario_simulator_v2 from version 3.4.1 to version 3.4.2 --- common/math/arithmetic/CHANGELOG.rst | 14 +++++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 14 +++++++++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 14 +++++++++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 14 +++++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 14 +++++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 14 +++++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 14 +++++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 14 +++++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 14 +++++++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 14 +++++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 14 +++++++++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 22 ++++++++++++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 14 +++++++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 14 +++++++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 14 +++++++++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 14 +++++++++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 14 +++++++++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 14 +++++++++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 14 +++++++++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 14 +++++++++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 14 +++++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 14 +++++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 14 +++++++++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 25 +++++++++++++++++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 23 +++++++++++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 17 +++++++++++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 14 +++++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 14 +++++++++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 14 +++++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 466 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 7b6c04cbcb2..36bf2adb8b8 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 4776b1d86b7..f533b05d41f 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.4.1 + 3.4.2 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 0ee3efa0b45..96ce8ab8d52 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 255a568654e..dbfe14571f1 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.4.1 + 3.4.2 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 570387706e8..b6ce0b2ba89 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 3dff5760fb1..431d38cbf2d 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.4.1 + 3.4.2 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 0b2782b93da..e43c26c2ef6 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index d4b9277a8b0..6386b24a4a0 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.4.1 + 3.4.2 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 fe49cc3ea4d..6149898fb8c 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index ade3b68ce5a..556364b8c62 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.4.1 + 3.4.2 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 09953844e4f..f2690904d67 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 140b51e594f..79c73bc9be2 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.4.1 + 3.4.2 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 b8da66880fe..f938dc27fa1 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,20 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 17206d671a3..15568e6da44 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.4.1 + 3.4.2 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 09a29d4f889..abdc07a51be 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index cfceebfce25..6ef23698055 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.4.1 + 3.4.2 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 d3a2ba16657..dbdbd51742d 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,20 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 1d3ba40ee26..7a08689d18a 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.4.1 + 3.4.2 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 88ee30ed5c0..ee2ea566a0a 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index f971dad5d0e..84f86210815 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.4.1 + 3.4.2 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 5584f01a717..fc47e7693bb 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 4a8fda2841c..8e3160af2e6 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.4.1 + 3.4.2 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 633d6a844ec..5e8546533e3 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,28 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge branch 'master' into doc/longitudinal-control +* Merge pull request `#1321 `_ from tier4/feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* feat: Enhance IMU sensor configuration and initialization + - Added frame_id to ImuSensorConfiguration + - Separated noise standard deviations for orientation, twist, and acceleration + - Updated ImuSensorBase and ImuSensor classes for new noise distributions +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* feat(simple_sensor_simulator, imu): add gravity vector, tidy up +* feat(simulator_core, api, zmq): add attachImuSensor, add update imu sensors +* Contributors: Dawid Moszynski, Koki Suzuki, Kotaro Yoshimoto, Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 4959c10deef..00d7949643c 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.4.1 + 3.4.2 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 430a037ac03..6a6b0242dc8 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 4c9b91216db..06c82717359 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.4.1 + 3.4.2 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 96cd09eb6ea..1c8ae389b5c 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index b18a3f7a9ba..697d6261d74 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.4.1 + 3.4.2 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 e1de288583e..5b9c6ab78ad 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index ff3cce230d6..a1bcfe5d27d 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.4.1 + 3.4.2 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 45a0949520f..d85a9885d89 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index b9b00b6a039..6efd1246130 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.4.1 + 3.4.2 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 6c2760604c4..f5447823350 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,20 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index ab2e12c6b85..01b23b31e5f 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.4.1 + 3.4.2 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 8eeea4a1c84..8e1f1f599ec 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,20 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 30348686cdc..bd21a92e59f 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.4.1 + 3.4.2 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 474305a1de6..b3e1b9e5c14 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index f140c14f106..fd3e3bb1708 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.4.1 + 3.4.2 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 448b4c17643..3c00a040c3f 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 +21,20 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support 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 ed803ceac17..115f07ed1c1 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 - 3.4.1 + 3.4.2 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 6410f0674ed..b263feb86c0 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index cee69b01c8b..0f087fc6af4 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.4.1 + 3.4.2 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 a09ba91219f..c8f6ccd7f2b 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index aca3bfd10bc..77bf5abe99b 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.4.1 + 3.4.2 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 025faac304e..6fdde310518 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 0307a928e56..c2bc7f89c43 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.4.1 + 3.4.2 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 f2a45f9d25b..b5f73466cc9 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,31 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge branch 'master' into doc/longitudinal-control +* Merge pull request `#1321 `_ from tier4/feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* feat: Enhance IMU sensor configuration and initialization + - Added frame_id to ImuSensorConfiguration + - Separated noise standard deviations for orientation, twist, and acceleration + - Updated ImuSensorBase and ImuSensor classes for new noise distributions +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Fix an issue with an invalid namespace imu_link +* Fix an issue with an invalid namespace imu_link +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* feat(simple_sensor_simulator, imu): add gravity vector, tidy up +* feat(simulator_core, api, zmq): add attachImuSensor, add update imu sensors +* feat(simple_sensor_simulator): add imu_sensor +* Contributors: Dawid Moszynski, Koki Suzuki, Kotaro Yoshimoto, Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 9a96c82d724..90bb8780465 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.4.1 + 3.4.2 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 187a8a14b90..1ffa0eab9da 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,29 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge branch 'master' into doc/longitudinal-control +* Merge pull request `#1321 `_ from tier4/feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* feat: Enhance IMU sensor configuration and initialization + - Added frame_id to ImuSensorConfiguration + - Separated noise standard deviations for orientation, twist, and acceleration + - Updated ImuSensorBase and ImuSensor classes for new noise distributions +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* feat(simple_sensor_simulator, imu): add gravity vector, tidy up +* feat(simulator_core, api, zmq): add attachImuSensor, add update imu sensors +* feat(simple_sensor_simulator): add imu_sensor +* Contributors: Dawid Moszynski, Koki Suzuki, Kotaro Yoshimoto, Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index d6d2668063d..885589fd270 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.4.1 + 3.4.2 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 b2979f9d273..e3e93704b38 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge branch 'master' into doc/longitudinal-control +* Merge pull request `#1321 `_ from tier4/feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* feat(simulator_core, api, zmq): add attachImuSensor, add update imu sensors +* Contributors: Dawid Moszynski, Koki Suzuki, Kotaro Yoshimoto, Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 585537d7a8a..b2c8b089034 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.4.1 + 3.4.2 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 0a0876b5856..4c0b74852aa 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 29d83e0fd73..2c1dedb6696 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.4.1 + 3.4.2 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 d5aa32cb2f2..6a1299f1137 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 06bc95d02c7..bf4e1a5bcc6 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.4.1 + 3.4.2 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 71adb8b8e11..d4fef8eb21c 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,20 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.2 (2024-08-05) +------------------ +* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Merge branch 'master' into doc/longitudinal-control +* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator +* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki + 3.4.1 (2024-07-30) ------------------ * Merge branch 'master' into doc/open_scenario_support diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 80a6d8ba53c..f88e0c3572f 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.4.1 + 3.4.2 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 3f9c4c3efc40afdeb6a41b1a7c8edf2607bc2e65 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Mon, 5 Aug 2024 14:29:49 +0900 Subject: [PATCH 075/304] Update MagicSubscription to share resources between instances Signed-off-by: yamacir-kit --- .../syntax/user_defined_value_condition.hpp | 2 - .../syntax/user_defined_value_condition.cpp | 84 ++++++++++++------- 2 files changed, 53 insertions(+), 33 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp index 585d6d9e273..7ca1707fd9e 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp @@ -45,8 +45,6 @@ class UserDefinedValueCondition : private SimulatorCore::NonStandardOperation std::function evaluate_value; - static uint64_t magic_subscription_counter; - public: const String name; diff --git a/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp index fd99947d906..c13b4d8edc1 100644 --- a/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp @@ -33,48 +33,72 @@ namespace openscenario_interpreter inline namespace syntax { template -struct MagicSubscription : private rclcpp::Node, public T +struct MagicSubscription : public T { - std::promise promise; + struct Subscriber + { + rclcpp::Node node; - std::thread thread; + std::atomic_bool stop_requested = false; - std::exception_ptr thrown; + std::promise promise; - typename rclcpp::Subscription::SharedPtr subscription; + std::future future; -public: - explicit MagicSubscription(const std::string & node_name, const std::string & topic_name) - : rclcpp::Node(node_name), - thread( - [this](auto future) { - while (rclcpp::ok() and - future.wait_for(std::chrono::milliseconds(1)) == std::future_status::timeout) { - try { - rclcpp::spin_some(get_node_base_interface()); - } catch (...) { - thrown = std::current_exception(); + std::thread thread; + + explicit Subscriber() + : node("magic_subscription"), + future(promise.get_future()), + thread( + [this](std::promise promise) { + while (rclcpp::ok() and not stop_requested) { + try { + rclcpp::spin_some(node.get_node_base_interface()); + } catch (...) { + promise.set_exception(std::current_exception()); + } } - } - }, - std::move(promise.get_future())), - subscription(create_subscription(topic_name, 1, [this](const typename T::SharedPtr message) { - static_cast(*this) = *message; - })) + }, + std::move(promise)) + { + } + }; + + static auto subscriber() -> auto & + { + static std::unique_ptr subscriber = nullptr; + + if (not subscriber) { + subscriber = std::make_unique(); + } + + return subscriber; + } + + typename rclcpp::Subscription::SharedPtr subscription; + + static inline std::size_t count = 0; + + explicit MagicSubscription(const std::string & topic_name) + : subscription(subscriber()->node.template create_subscription( + topic_name, 1, [this, count = count++](const typename T::SharedPtr message) { + static_cast(*this) = *message; + })) { } ~MagicSubscription() { - if (thread.joinable()) { - promise.set_value(); - thread.join(); + if ( + not --count and subscriber()->thread.joinable() and + not subscriber()->stop_requested.exchange(true)) { + subscriber()->thread.join(); + subscriber().reset(); } } }; -uint64_t UserDefinedValueCondition::magic_subscription_counter = 0; - UserDefinedValueCondition::UserDefinedValueCondition(const pugi::xml_node & node, Scope & scope) : name(readAttribute("name", node, scope)), value(readAttribute("value", node, scope)), @@ -134,9 +158,7 @@ UserDefinedValueCondition::UserDefinedValueCondition(const pugi::xml_node & node using tier4_simulation_msgs::msg::UserDefinedValueType; evaluate_value = - [&, current_message = std::make_shared>( - result.str(1) + "_subscription_" + std::to_string(++magic_subscription_counter), - result.str(0))]() { + [this, message = std::make_shared>(result.str(0))]() { auto evaluate = [](const auto & user_defined_value) { switch (user_defined_value.type.data) { case UserDefinedValueType::BOOLEAN: @@ -158,7 +180,7 @@ UserDefinedValueCondition::UserDefinedValueCondition(const pugi::xml_node & node } }; - return not current_message->value.empty() ? evaluate(*current_message) : unspecified; + return message->value.empty() ? unspecified : evaluate(*message); }; #else throw SyntaxError( From 1f6c0d72701981fb5ceabaf624610ca102fdb3ea Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Mon, 5 Aug 2024 14:32:21 +0900 Subject: [PATCH 076/304] Update test scenario `ByValueCondition.UserDefinedValueCondition.yaml` Signed-off-by: yamacir-kit --- ...ueCondition.UserDefinedValueCondition.yaml | 134 +++++++++++++++++- 1 file changed, 133 insertions(+), 1 deletion(-) diff --git a/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml b/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml index 502188c68f4..427fcce95df 100644 --- a/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml +++ b/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml @@ -106,7 +106,7 @@ OpenSCENARIO: conditionEdge: none ByValueCondition: SimulationTimeCondition: - value: 120 + value: 180 rule: greaterThan - Condition: - name: '' @@ -144,11 +144,33 @@ OpenSCENARIO: - *COUNT_UP - *COUNT_UP - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 10 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 20 + - *COUNT_UP - *COUNT_UP - *COUNT_UP - *COUNT_UP - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 30 - *COUNT_UP - *COUNT_UP @@ -156,12 +178,121 @@ OpenSCENARIO: - *COUNT_UP - *COUNT_UP - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 40 + - *COUNT_UP - *COUNT_UP - *COUNT_UP - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 50 - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 60 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 70 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 80 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 90 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 100 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 110 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 120 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 130 + + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP + - *COUNT_UP # 140 + - *COUNT_UP - *COUNT_UP - *COUNT_UP @@ -171,6 +302,7 @@ OpenSCENARIO: - *COUNT_UP - *COUNT_UP - *COUNT_UP + - *COUNT_UP # 150 Action: - name: '' UserDefinedAction: From db4690e6d88bfd72468e05eb0d3a6cf7d7421e56 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Mon, 5 Aug 2024 10:21:52 +0200 Subject: [PATCH 077/304] ref(traffic_controller): rename make->appendDebugMarker --- .../include/traffic_simulator/traffic/traffic_module_base.hpp | 2 +- .../include/traffic_simulator/traffic/traffic_sink.hpp | 3 ++- .../traffic_simulator/src/traffic/traffic_controller.cpp | 2 +- simulation/traffic_simulator/src/traffic/traffic_sink.cpp | 3 ++- 4 files changed, 6 insertions(+), 4 deletions(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp index e21e73b8a0f..41e52aaf0e4 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_module_base.hpp @@ -37,7 +37,7 @@ class TrafficModuleBase public: TrafficModuleBase() {} virtual void execute(const double current_time, const double step_time) = 0; - virtual auto makeDebugMarker(visualization_msgs::msg::MarkerArray &) const -> void{}; + virtual auto appendDebugMarker(visualization_msgs::msg::MarkerArray &) const -> void{}; }; } // namespace traffic } // namespace traffic_simulator diff --git a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp index 5ec17397636..0754ace3f92 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp @@ -50,7 +50,8 @@ class TrafficSink : public TrafficModuleBase const double radius; const geometry_msgs::msg::Point position; void execute(const double current_time, const double step_time) override; - auto makeDebugMarker(visualization_msgs::msg::MarkerArray & marker_array) const -> void override; + auto appendDebugMarker(visualization_msgs::msg::MarkerArray & marker_array) const + -> void override; private: const std::function(void)> get_entity_names_function; diff --git a/simulation/traffic_simulator/src/traffic/traffic_controller.cpp b/simulation/traffic_simulator/src/traffic/traffic_controller.cpp index 27a5d42fd57..7ebdb8710dd 100644 --- a/simulation/traffic_simulator/src/traffic/traffic_controller.cpp +++ b/simulation/traffic_simulator/src/traffic/traffic_controller.cpp @@ -79,7 +79,7 @@ auto TrafficController::makeDebugMarker() const -> const visualization_msgs::msg static const auto marker_array = [&]() { visualization_msgs::msg::MarkerArray marker_array; for (size_t i = 0; i < modules_.size(); ++i) { - modules_[i]->makeDebugMarker(marker_array); + modules_[i]->appendDebugMarker(marker_array); } return marker_array; }(); diff --git a/simulation/traffic_simulator/src/traffic/traffic_sink.cpp b/simulation/traffic_simulator/src/traffic/traffic_sink.cpp index 32934506e23..b85663f17d6 100644 --- a/simulation/traffic_simulator/src/traffic/traffic_sink.cpp +++ b/simulation/traffic_simulator/src/traffic/traffic_sink.cpp @@ -64,7 +64,8 @@ void TrafficSink::execute( } } -auto TrafficSink::makeDebugMarker(visualization_msgs::msg::MarkerArray & marker_array) const -> void +auto TrafficSink::appendDebugMarker(visualization_msgs::msg::MarkerArray & marker_array) const + -> void { const auto lanelet_text = std::to_string(lanelet_id); visualization_msgs::msg::Marker traffic_sink_marker; From af4170d05b3126a566b12f9e7f777aff74f54e89 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 5 Aug 2024 11:24:24 +0200 Subject: [PATCH 078/304] add a proper structure to the test files --- common/math/geometry/test/CMakeLists.txt | 35 +++++++------------ .../test/{ => src}/expect_eq_macros.hpp | 0 .../test/src/intersection/CMakeLists.txt | 5 +++ .../{ => src/intersection}/test_collision.cpp | 2 +- .../intersection}/test_intersection.cpp | 4 +-- .../geometry/test/src/polygon/CMakeLists.txt | 5 +++ .../{ => src/polygon}/test_line_segment.cpp | 4 +-- .../test/{ => src/polygon}/test_polygon.cpp | 4 +-- .../test/src/quaternion/CMakeLists.txt | 2 ++ .../{ => src/quaternion}/test_quaternion.cpp | 4 +-- .../geometry/test/src/solver/CMakeLists.txt | 2 ++ .../solver}/test_polynomial_solver.cpp | 0 .../geometry/test/src/spline/CMakeLists.txt | 8 +++++ .../spline}/test_catmull_rom_spline.cpp | 4 +-- .../spline}/test_catmull_rom_subspline.cpp | 4 +-- .../{ => src/spline}/test_hermite_curve.cpp | 4 +-- .../test/{ => src}/test_bounding_box.cpp | 0 .../geometry/test/{ => src}/test_distance.cpp | 0 .../test/{ => src}/test_transform.cpp | 0 .../geometry/test/{ => src}/test_utils.hpp | 0 .../test/{ => src}/vector3/CMakeLists.txt | 0 .../vector3/test_truncate_custom.cpp | 0 .../{ => src}/vector3/test_truncate_msg.cpp | 0 .../test/{ => src}/vector3/test_vector3.cpp | 0 24 files changed, 49 insertions(+), 38 deletions(-) rename common/math/geometry/test/{ => src}/expect_eq_macros.hpp (100%) create mode 100644 common/math/geometry/test/src/intersection/CMakeLists.txt rename common/math/geometry/test/{ => src/intersection}/test_collision.cpp (99%) rename common/math/geometry/test/{ => src/intersection}/test_intersection.cpp (98%) create mode 100644 common/math/geometry/test/src/polygon/CMakeLists.txt rename common/math/geometry/test/{ => src/polygon}/test_line_segment.cpp (99%) rename common/math/geometry/test/{ => src/polygon}/test_polygon.cpp (98%) create mode 100644 common/math/geometry/test/src/quaternion/CMakeLists.txt rename common/math/geometry/test/{ => src/quaternion}/test_quaternion.cpp (96%) create mode 100644 common/math/geometry/test/src/solver/CMakeLists.txt rename common/math/geometry/test/{ => src/solver}/test_polynomial_solver.cpp (100%) create mode 100644 common/math/geometry/test/src/spline/CMakeLists.txt rename common/math/geometry/test/{ => src/spline}/test_catmull_rom_spline.cpp (99%) rename common/math/geometry/test/{ => src/spline}/test_catmull_rom_subspline.cpp (98%) rename common/math/geometry/test/{ => src/spline}/test_hermite_curve.cpp (99%) rename common/math/geometry/test/{ => src}/test_bounding_box.cpp (100%) rename common/math/geometry/test/{ => src}/test_distance.cpp (100%) rename common/math/geometry/test/{ => src}/test_transform.cpp (100%) rename common/math/geometry/test/{ => src}/test_utils.hpp (100%) rename common/math/geometry/test/{ => src}/vector3/CMakeLists.txt (100%) rename common/math/geometry/test/{ => src}/vector3/test_truncate_custom.cpp (100%) rename common/math/geometry/test/{ => src}/vector3/test_truncate_msg.cpp (100%) rename common/math/geometry/test/{ => src}/vector3/test_vector3.cpp (100%) diff --git a/common/math/geometry/test/CMakeLists.txt b/common/math/geometry/test/CMakeLists.txt index dfd0a09460b..eed4ab3431c 100644 --- a/common/math/geometry/test/CMakeLists.txt +++ b/common/math/geometry/test/CMakeLists.txt @@ -1,26 +1,15 @@ -add_subdirectory(vector3) +add_subdirectory(src/intersection) +add_subdirectory(src/polygon) +add_subdirectory(src/quaternion) +add_subdirectory(src/solver) +add_subdirectory(src/spline) +add_subdirectory(src/vector3) -ament_add_gtest(test_bounding_box test_bounding_box.cpp) -ament_add_gtest(test_catmull_rom_spline test_catmull_rom_spline.cpp) -ament_add_gtest(test_catmull_rom_subspline test_catmull_rom_subspline.cpp) -ament_add_gtest(test_collision test_collision.cpp) -ament_add_gtest(test_distance test_distance.cpp) -ament_add_gtest(test_hermite_curve test_hermite_curve.cpp) -ament_add_gtest(test_polygon test_polygon.cpp) -ament_add_gtest(test_polynomial_solver test_polynomial_solver.cpp) -ament_add_gtest(test_transform test_transform.cpp) -ament_add_gtest(test_intersection test_intersection.cpp) -ament_add_gtest(test_line_segment test_line_segment.cpp) -ament_add_gtest(test_quaternion test_quaternion.cpp) -target_link_libraries(test_bounding_box geometry) -target_link_libraries(test_catmull_rom_spline geometry) -target_link_libraries(test_catmull_rom_subspline geometry) -target_link_libraries(test_collision geometry) +ament_add_gtest(test_distance src/test_distance.cpp) target_link_libraries(test_distance geometry) -target_link_libraries(test_hermite_curve geometry) -target_link_libraries(test_polygon geometry) -target_link_libraries(test_polynomial_solver geometry) + +ament_add_gtest(test_bounding_box src/test_bounding_box.cpp) +target_link_libraries(test_bounding_box geometry) + +ament_add_gtest(test_transform src/test_transform.cpp) target_link_libraries(test_transform geometry) -target_link_libraries(test_intersection geometry) -target_link_libraries(test_line_segment geometry) -target_link_libraries(test_quaternion geometry) diff --git a/common/math/geometry/test/expect_eq_macros.hpp b/common/math/geometry/test/src/expect_eq_macros.hpp similarity index 100% rename from common/math/geometry/test/expect_eq_macros.hpp rename to common/math/geometry/test/src/expect_eq_macros.hpp diff --git a/common/math/geometry/test/src/intersection/CMakeLists.txt b/common/math/geometry/test/src/intersection/CMakeLists.txt new file mode 100644 index 00000000000..ea171973a2c --- /dev/null +++ b/common/math/geometry/test/src/intersection/CMakeLists.txt @@ -0,0 +1,5 @@ +ament_add_gtest(test_collision test_collision.cpp) +target_link_libraries(test_collision geometry) + +ament_add_gtest(test_intersection test_intersection.cpp) +target_link_libraries(test_intersection geometry) diff --git a/common/math/geometry/test/test_collision.cpp b/common/math/geometry/test/src/intersection/test_collision.cpp similarity index 99% rename from common/math/geometry/test/test_collision.cpp rename to common/math/geometry/test/src/intersection/test_collision.cpp index cf60a70eba2..a32622d4f0c 100644 --- a/common/math/geometry/test/test_collision.cpp +++ b/common/math/geometry/test/src/intersection/test_collision.cpp @@ -17,7 +17,7 @@ #include #include -#include "test_utils.hpp" +#include "../test_utils.hpp" TEST(Collision, DifferentHeight) { diff --git a/common/math/geometry/test/test_intersection.cpp b/common/math/geometry/test/src/intersection/test_intersection.cpp similarity index 98% rename from common/math/geometry/test/test_intersection.cpp rename to common/math/geometry/test/src/intersection/test_intersection.cpp index 4ee95a08cd9..b57723e461e 100644 --- a/common/math/geometry/test/test_intersection.cpp +++ b/common/math/geometry/test/src/intersection/test_intersection.cpp @@ -17,8 +17,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" TEST(Intersection, isIntersect2DDisjoint) { diff --git a/common/math/geometry/test/src/polygon/CMakeLists.txt b/common/math/geometry/test/src/polygon/CMakeLists.txt new file mode 100644 index 00000000000..8a2eae13418 --- /dev/null +++ b/common/math/geometry/test/src/polygon/CMakeLists.txt @@ -0,0 +1,5 @@ +ament_add_gtest(test_line_segment test_line_segment.cpp) +target_link_libraries(test_line_segment geometry) + +ament_add_gtest(test_polygon test_polygon.cpp) +target_link_libraries(test_polygon geometry) diff --git a/common/math/geometry/test/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp similarity index 99% rename from common/math/geometry/test/test_line_segment.cpp rename to common/math/geometry/test/src/polygon/test_line_segment.cpp index 4c21cc35626..8b0353eead4 100644 --- a/common/math/geometry/test/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -19,8 +19,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" TEST(LineSegment, initializeDifferentPoints) { diff --git a/common/math/geometry/test/test_polygon.cpp b/common/math/geometry/test/src/polygon/test_polygon.cpp similarity index 98% rename from common/math/geometry/test/test_polygon.cpp rename to common/math/geometry/test/src/polygon/test_polygon.cpp index 8ec0ea97ad9..e7278fa6566 100644 --- a/common/math/geometry/test/test_polygon.cpp +++ b/common/math/geometry/test/src/polygon/test_polygon.cpp @@ -17,8 +17,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" TEST(Polygon, filterByAxis) { diff --git a/common/math/geometry/test/src/quaternion/CMakeLists.txt b/common/math/geometry/test/src/quaternion/CMakeLists.txt new file mode 100644 index 00000000000..2ea2aaf3d91 --- /dev/null +++ b/common/math/geometry/test/src/quaternion/CMakeLists.txt @@ -0,0 +1,2 @@ +ament_add_gtest(test_quaternion test_quaternion.cpp) +target_link_libraries(test_quaternion geometry) diff --git a/common/math/geometry/test/test_quaternion.cpp b/common/math/geometry/test/src/quaternion/test_quaternion.cpp similarity index 96% rename from common/math/geometry/test/test_quaternion.cpp rename to common/math/geometry/test/src/quaternion/test_quaternion.cpp index 7dfd1285664..14c7f3a82ba 100644 --- a/common/math/geometry/test/test_quaternion.cpp +++ b/common/math/geometry/test/src/quaternion/test_quaternion.cpp @@ -18,8 +18,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" constexpr double EPS = 1e-6; diff --git a/common/math/geometry/test/src/solver/CMakeLists.txt b/common/math/geometry/test/src/solver/CMakeLists.txt new file mode 100644 index 00000000000..0716910f184 --- /dev/null +++ b/common/math/geometry/test/src/solver/CMakeLists.txt @@ -0,0 +1,2 @@ +ament_add_gtest(test_polynomial_solver test_polynomial_solver.cpp) +target_link_libraries(test_polynomial_solver geometry) diff --git a/common/math/geometry/test/test_polynomial_solver.cpp b/common/math/geometry/test/src/solver/test_polynomial_solver.cpp similarity index 100% rename from common/math/geometry/test/test_polynomial_solver.cpp rename to common/math/geometry/test/src/solver/test_polynomial_solver.cpp diff --git a/common/math/geometry/test/src/spline/CMakeLists.txt b/common/math/geometry/test/src/spline/CMakeLists.txt new file mode 100644 index 00000000000..d6a2793f80d --- /dev/null +++ b/common/math/geometry/test/src/spline/CMakeLists.txt @@ -0,0 +1,8 @@ +ament_add_gtest(test_catmull_rom_spline test_catmull_rom_spline.cpp) +target_link_libraries(test_catmull_rom_spline geometry) + +ament_add_gtest(test_catmull_rom_subspline test_catmull_rom_subspline.cpp) +target_link_libraries(test_catmull_rom_subspline geometry) + +ament_add_gtest(test_hermite_curve test_hermite_curve.cpp) +target_link_libraries(test_hermite_curve geometry) diff --git a/common/math/geometry/test/test_catmull_rom_spline.cpp b/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp similarity index 99% rename from common/math/geometry/test/test_catmull_rom_spline.cpp rename to common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp index b29aba00130..b224e7d0d45 100644 --- a/common/math/geometry/test/test_catmull_rom_spline.cpp +++ b/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp @@ -18,8 +18,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" constexpr double EPS = 1e-6; diff --git a/common/math/geometry/test/test_catmull_rom_subspline.cpp b/common/math/geometry/test/src/spline/test_catmull_rom_subspline.cpp similarity index 98% rename from common/math/geometry/test/test_catmull_rom_subspline.cpp rename to common/math/geometry/test/src/spline/test_catmull_rom_subspline.cpp index 567d1bf089e..10b2b56124c 100644 --- a/common/math/geometry/test/test_catmull_rom_subspline.cpp +++ b/common/math/geometry/test/src/spline/test_catmull_rom_subspline.cpp @@ -17,8 +17,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" constexpr double EPS = 1e-6; diff --git a/common/math/geometry/test/test_hermite_curve.cpp b/common/math/geometry/test/src/spline/test_hermite_curve.cpp similarity index 99% rename from common/math/geometry/test/test_hermite_curve.cpp rename to common/math/geometry/test/src/spline/test_hermite_curve.cpp index 9efbccef633..08ab6c3c4a0 100644 --- a/common/math/geometry/test/test_hermite_curve.cpp +++ b/common/math/geometry/test/src/spline/test_hermite_curve.cpp @@ -16,8 +16,8 @@ #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" constexpr double EPS = 1e-3; diff --git a/common/math/geometry/test/test_bounding_box.cpp b/common/math/geometry/test/src/test_bounding_box.cpp similarity index 100% rename from common/math/geometry/test/test_bounding_box.cpp rename to common/math/geometry/test/src/test_bounding_box.cpp diff --git a/common/math/geometry/test/test_distance.cpp b/common/math/geometry/test/src/test_distance.cpp similarity index 100% rename from common/math/geometry/test/test_distance.cpp rename to common/math/geometry/test/src/test_distance.cpp diff --git a/common/math/geometry/test/test_transform.cpp b/common/math/geometry/test/src/test_transform.cpp similarity index 100% rename from common/math/geometry/test/test_transform.cpp rename to common/math/geometry/test/src/test_transform.cpp diff --git a/common/math/geometry/test/test_utils.hpp b/common/math/geometry/test/src/test_utils.hpp similarity index 100% rename from common/math/geometry/test/test_utils.hpp rename to common/math/geometry/test/src/test_utils.hpp diff --git a/common/math/geometry/test/vector3/CMakeLists.txt b/common/math/geometry/test/src/vector3/CMakeLists.txt similarity index 100% rename from common/math/geometry/test/vector3/CMakeLists.txt rename to common/math/geometry/test/src/vector3/CMakeLists.txt diff --git a/common/math/geometry/test/vector3/test_truncate_custom.cpp b/common/math/geometry/test/src/vector3/test_truncate_custom.cpp similarity index 100% rename from common/math/geometry/test/vector3/test_truncate_custom.cpp rename to common/math/geometry/test/src/vector3/test_truncate_custom.cpp diff --git a/common/math/geometry/test/vector3/test_truncate_msg.cpp b/common/math/geometry/test/src/vector3/test_truncate_msg.cpp similarity index 100% rename from common/math/geometry/test/vector3/test_truncate_msg.cpp rename to common/math/geometry/test/src/vector3/test_truncate_msg.cpp diff --git a/common/math/geometry/test/vector3/test_vector3.cpp b/common/math/geometry/test/src/vector3/test_vector3.cpp similarity index 100% rename from common/math/geometry/test/vector3/test_vector3.cpp rename to common/math/geometry/test/src/vector3/test_vector3.cpp From d34f9bbd3c37b0a28928487f905917da7f9fbf41 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 5 Aug 2024 14:37:48 +0200 Subject: [PATCH 079/304] getPose, getPoint refactor --- .../test/src/polygon/test_line_segment.cpp | 198 ++++++++++-------- 1 file changed, 111 insertions(+), 87 deletions(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 8b0353eead4..e8ce13d44b4 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -17,6 +17,7 @@ #include #include #include +#include #include #include "../expect_eq_macros.hpp" @@ -326,97 +327,120 @@ TEST(LineSegment, getSValue_parallelDenormalize) EXPECT_FALSE(s); } -/// @brief In this test case, testing the `LineSegment::getPoint` function can find the point on the line segment with start point (x,y,z) = (0,0,0) and end point (x,y,z) = (1,1,1) in the cartesian coordinate system. (variable name `line`). -TEST(LineSegment, GetPoint) +TEST(LineSegment, GetPoint_outOfBounds_denormalized) { - { - math::geometry::LineSegment line( - geometry_msgs::build().x(0).y(0).z(0), - geometry_msgs::build().x(1).y(1).z(1)); - /// @note If s = 0 and denormalize_s = false, the return value of the `getPoint` function should be a start point of the `line`. - /// If the `denormalize_s = false`, the return value `s` of the function is normalized and in range `s = [0,1]`. - // [Snippet_getPoint_with_s_0] - EXPECT_POINT_EQ( - line.getPoint(0, false), geometry_msgs::build().x(0).y(0).z(0)); - // [Snippet_getPoint_with_s_0] - /// @snippet test/test_line_segment.cpp Snippet_getPoint_with_s_0 - - /// @note If s = 0 and denormalize_s = false, the return value of the `LineSegment::getPoint` function should be a end point of the `line`. - /// If the `denormalize_s = false`, the return value `s` of the function is normalized and in range `s = [0,1]`. - // [Snippet_getPoint_with_s_1] - EXPECT_POINT_EQ( - line.getPoint(1, false), geometry_msgs::build().x(1).y(1).z(1)); - // [Snippet_getPoint_with_s_1] - /// @snippet test/test_line_segment.cpp Snippet_getPoint_with_s_1 - - /// @note If s = sqrt(3) and denormalize_s = true, the return value of the `LineSegment::getPoint` function should be a end point of the `line`. - /// If the `denormalize_s = true`, the return value `s` is denormalized and it returns the value `s` times the length of the curve. - // [Snippet_getPoint_with_sqrt_3_denormalized] - EXPECT_POINT_EQ( - line.getPoint(std::sqrt(3), true), - geometry_msgs::build().x(1).y(1).z(1)); - // [Snippet_getPoint_with_sqrt_3_denormalized] - /// @snippet test/test_line_segment.cpp Snippet_getPoint_with_sqrt_3_denormalized - - /// @note If s is not in range s = [0,1], testing the `LineSegment::getPoint` function can throw error. If s is not in range s = [0,1], it means the point is not on the line. - // [Snippet_getPoint_out_of_range] - EXPECT_THROW(line.getPoint(2, false), common::SimulationError); - EXPECT_THROW(line.getPoint(-1, false), common::SimulationError); - // [Snippet_getPoint_out_of_range] - /// @snippet test/test_line_segment.cpp Snippet_getPoint_out_of_range - - /// @note If s is not in range s = [0,sqrt(3)] and denormalize, testing the `LineSegment::getPoint` function can throw error. If s is not in range s = [0,sqrt(3)], it means the point is not on the line. - // [Snippet_getPoint_out_of_range_with_denormalize] - EXPECT_THROW(line.getPoint(2, true), common::SimulationError); - EXPECT_THROW(line.getPoint(-1, true), common::SimulationError); - EXPECT_NO_THROW(line.getPoint(0, true)); - EXPECT_NO_THROW(line.getPoint(std::sqrt(3.0), true)); - // [Snippet_getPoint_out_of_range_with_denormalize] - /// @snippet test/test_line_segment.cpp Snippet_getPoint_out_of_range_with_denormalize - } + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); + ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + + EXPECT_THROW(line.getPoint(7.0, true), common::SimulationError); + EXPECT_THROW(line.getPoint(-1.0, true), common::SimulationError); } -/// @brief In this test case, testing the `LineSegment::getPose` function can find the pose on the line segment with start point (x,y,z) = (0,0,0) and end point (x,y,z) = (0,0,1) in the cartesian coordinate system. (variable name `line`). -TEST(LineSegment, GetPose) +TEST(LineSegment, GetPoint_outOfBounds_normalized) { - { - math::geometry::LineSegment line( - geometry_msgs::build().x(0).y(0).z(0), - geometry_msgs::build().x(0).y(0).z(1)); - /// @note When the `s = 0`(1st argument of the `LineSegment::getPose` function), the return value of the `LineSegment::getPose` function should be a start point of the `line`. - /// Orientation should be defined by the direction of the `line`, so the orientation should be parallel to the z axis. - // [Snippet_getPose_with_s_0] - EXPECT_POSE_EQ( - line.getPose(0, false, false), - geometry_msgs::build() - .position(geometry_msgs::build().x(0).y(0).z(0)) - .orientation(geometry_msgs::build().x(0).y(0).z(0).w(1))); - EXPECT_POSE_EQ( - line.getPose(0, false, true), - geometry_msgs::build() - .position(geometry_msgs::build().x(0).y(0).z(0)) - .orientation(math::geometry::convertEulerAngleToQuaternion( - geometry_msgs::build().x(0).y(-M_PI * 0.5).z(0)))); - // [Snippet_getPose_with_s_0] - /// @snippet test/test_line_segment.cpp Snippet_getPose_with_s_0 - - /// @note When the `s = 1`(1st argument of the `LineSegment::getPose` function), the return value of the `LineSegment::getPose` function should be an end point of the `line`. - /// Orientation should be defined by the direction of the `line`, so the orientation should be parallel to the z axis. - // [Snippet_getPose_with_s_1] - EXPECT_POSE_EQ( - line.getPose(1, false, false), - geometry_msgs::build() - .position(geometry_msgs::build().x(0).y(0).z(1)) - .orientation(geometry_msgs::build().x(0).y(0).z(0).w(1))); - EXPECT_POSE_EQ( - line.getPose(1, false, true), - geometry_msgs::build() - .position(geometry_msgs::build().x(0).y(0).z(1)) - .orientation(math::geometry::convertEulerAngleToQuaternion( - geometry_msgs::build().x(0).y(-M_PI * 0.5).z(0)))); - // [Snippet_getPose_with_s_1] - /// @snippet test/test_line_segment.cpp Snippet_getPose_with_s_1 - } + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); + ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + + EXPECT_THROW(line.getPoint(1.1, false), common::SimulationError); + EXPECT_THROW(line.getPoint(-0.1, false), common::SimulationError); +} + +TEST(LineSegment, GetPoint_inside_denormalized) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); + ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + + EXPECT_POINT_EQ(line.getPoint(0.0, true), makePoint(-1.0, -2.0, 1.0)); + EXPECT_POINT_EQ(line.getPoint(3.0, true), makePoint(1.0, 0.0, 0.0)); + EXPECT_POINT_EQ(line.getPoint(6.0, true), makePoint(3.0, 2.0, -1.0)); +} + +TEST(LineSegment, GetPoint_inside_normalized) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); + ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + + EXPECT_POINT_EQ(line.getPoint(0.0, false), makePoint(-1.0, -2.0, 1.0)); + EXPECT_POINT_EQ(line.getPoint(0.5, false), makePoint(1.0, 0.0, 0.0)); + EXPECT_POINT_EQ(line.getPoint(1.0, false), makePoint(3.0, 2.0, -1.0)); +} + +TEST(LineSegment, getPose_denormalized) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + const double length = 4.0 * std::sqrt(3.0); + ASSERT_DOUBLE_EQ(line.getLength(), length); + + EXPECT_POSE_EQ( + line.getPose(0.0 * length, true, false), + makePose( + -1.0, -2.0, 0.0, + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(0.5 * length, true, false), + makePose( + 1.0, 0.0, 2.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(1.0 * length, true, false), + makePose( + 3.0, 2.0, 4.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); +} + +TEST(LineSegment, getPose_normalized) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + const double length = 4.0 * std::sqrt(3.0); + ASSERT_DOUBLE_EQ(line.getLength(), length); + + EXPECT_POSE_EQ( + line.getPose(0.0, false, false), + makePose( + -1.0, -2.0, 0.0, + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(0.5, false, false), + makePose( + 1.0, 0.0, 2.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(1.0, false, false), + makePose( + 3.0, 2.0, 4.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); +} + +TEST(LineSegment, getPose_pitch) +{ + const auto line = math::geometry::LineSegment( + makePoint(-1.0, -2.0, 0.0 * std::sqrt(2.0)), makePoint(3.0, 2.0, 4.0 * std::sqrt(2.0))); + const double length = 8.0; + ASSERT_DOUBLE_EQ(line.getLength(), length); + + EXPECT_POSE_EQ( + line.getPose(0.0 * length, true, true), + makePose( + -1.0, -2.0, 0.0 * std::sqrt(2.0), + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, -M_PI_4, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(0.5 * length, true, true), + makePose( + 1.0, 0.0, 2.0 * std::sqrt(2.0), + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, -M_PI_4, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(1.0 * length, true, true), + makePose( + 3.0, 2.0, 4.0 * std::sqrt(2.0), + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, -M_PI_4, M_PI_4)))); } /// @brief In this test case, we check collision with the point and 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`). From 28b9476ff5172badbef0294a7979773c937b8a3d Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 5 Aug 2024 18:08:32 +0200 Subject: [PATCH 080/304] getIntersection2DSValue and isIntersect2D functions --- .../test/src/polygon/test_line_segment.cpp | 390 +++++++++++------- 1 file changed, 230 insertions(+), 160 deletions(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index e8ce13d44b4..5cfc5094078 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -443,178 +443,248 @@ TEST(LineSegment, getPose_pitch) math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, -M_PI_4, M_PI_4)))); } -/// @brief In this test case, we check collision with the point and 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, isIntersect2D) +TEST(LineSegment, isIntersect2D_pointInside) { + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + + EXPECT_TRUE(line.isIntersect2D(makePoint(0.0, -1.0, 1.0))); + EXPECT_TRUE(line.isIntersect2D(makePoint(0.0, -1.0, 0.0))); +} + +TEST(LineSegment, isIntersect2D_pointOutside) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + + EXPECT_FALSE(line.isIntersect2D(makePoint(-1.0, -1.0, 1.0))); + EXPECT_FALSE(line.isIntersect2D( + makePoint(0.0, std::numeric_limits::max(), std::numeric_limits::max()))); + + EXPECT_FALSE(line.isIntersect2D(makePoint(-3.0, 0.0, 0.0))); + EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 0.0, 0.0))); +} + +TEST(LineSegment, isIntersect2D_pointCollinear) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + + EXPECT_FALSE(line.isIntersect2D(makePoint(-2.0, -3.0, -1.0))); + EXPECT_FALSE(line.isIntersect2D(makePoint(-2.0, -3.0, 0.0))); + + EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 3.0, 5.0))); + EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 3.0, 0.0))); +} + +TEST(LineSegment, isIntersect2D_pointOnEnd) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + + EXPECT_TRUE(line.isIntersect2D(makePoint(-1.0, -2.0, 0.0))); + EXPECT_TRUE(line.isIntersect2D(makePoint(-1.0, -2.0, 7.0))); + + EXPECT_TRUE(line.isIntersect2D(makePoint(3.0, 2.0, 4.0))); + EXPECT_TRUE(line.isIntersect2D(makePoint(3.0, 2.0, -5.0))); +} + +TEST(LineSegment, getIntersection2DSValue_line_vertical) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(-1.0, 2.0, 0.0)); { - 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::isIntersect2D` function can find intersection with point (0,0,0) and `line`. - // [Snippet_isIntersect2D_with_point_0_0_0] - EXPECT_TRUE( - line.isIntersect2D(geometry_msgs::build().x(0).y(0).z(0))); - // [Snippet_isIntersect2D_with_point_0_0_0] - /// @snippet test/test_line_segment.cpp Snippet_isIntersect2D_with_point_0_0_0 - - /// @note Testing the `LineSegment::isIntersect2D` function can find intersection with point (0,0,-1) - // [Snippet_isIntersect2D_with_point_0_0_-1] - EXPECT_TRUE( - line.isIntersect2D(geometry_msgs::build().x(0).y(0).z(-1))); - // [Snippet_isIntersect2D_with_point_0_0_-1] - /// @snippet test/test_line_segment.cpp Snippet_isIntersect2D_with_point_0_0_-1 - - /// @note Testing the `LineSegment::isIntersect2D` function can find intersection with point (0,1,0) and `line`. - // [Snippet_isIntersect2D_with_point_0_1_0] - EXPECT_TRUE( - line.isIntersect2D(geometry_msgs::build().x(0).y(1).z(0))); - // [Snippet_isIntersect2D_with_point_0_1_0] - /// @snippet test/test_line_segment.cpp Snippet_isIntersect2D_with_point_0_1_0 - - /// @note Testing the `LineSegment::isIntersect2D` function can find that there is no intersection with point (0,2,0) and `line`. - // [Snippet_isIntersect2D_with_point_0_2_0] - EXPECT_FALSE( - line.isIntersect2D(geometry_msgs::build().x(0).y(2).z(0))); - // [Snippet_isIntersect2D_with_point_0_2_0] - /// @snippet test/test_line_segment.cpp Snippet_isIntersect2D_with_point_0_2_0 - - /// @note Testing the `LineSegment::isIntersect2D` function can find that there is no intersection with point (0,-2,0) and `line`. - // [Snippet_isIntersect2D_with_point_0_-2_0] - EXPECT_FALSE( - line.isIntersect2D(geometry_msgs::build().x(0).y(-2).z(0))); - // [Snippet_isIntersect2D_with_point_0_-2_0] - /// @snippet test/test_line_segment.cpp Snippet_isIntersect2D_with_point_0_-2_0 + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 1.0, 0.0)), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 1.0); + } + { + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 1.0, 0.0)), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.25); } } -/// @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, getIntersection2DSValue_line_horizontal) { + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 2.0, 0.0), makePoint(1.0, 2.0, 0.0)); { - 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. - * 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] - { - const auto collision_s = line.getIntersection2DSValue( - 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 + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-1.0, 0.0, 0.0), makePoint(1.0, 4.0, 0.0)), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 1.0); + } + { + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-1.0, 0.0, 0.0), makePoint(1.0, 4.0, 0.0)), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.5); + } +} - /** - * @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. - * 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] - { - const auto collision_s = line.getIntersection2DSValue( - 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 +TEST(LineSegment, getIntersection2DSValue_line_bounds) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); + { + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-2.0, 2.0, 0.0), makePoint(0.0, 0.0, 0.0)), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.0); + } + { + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(1.0, 3.0, 0.0), makePoint(2.0, 2.0, 0.0)), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 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. - * 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. - * If so, the variable `collision_s` should be `std::optional(2.0)`. - */ - // [Snippet_getIntersection2DSValue_with_point_0_1_0_denormalized] - { - const auto collision_s = line.getIntersection2DSValue( - 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 +TEST(LineSegment, getIntersection2DSValue_line_outside) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); - /** - * @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. - * 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. - * If so, the variable `collision_s` should be `std::optional(1.0)`. - */ - // [Snippet_getIntersection2DSValue_with_point_0_0_0_denormalized] - { - const auto collision_s = line.getIntersection2DSValue( - 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 + EXPECT_FALSE( + line + .getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-2.0, 1.0, 0.0), makePoint(0.0, 0.0, 0.0)), false) + .has_value()); - /** - * @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.`. - * If the function works valid, the variable `collision_s` should be `std::nullopt`. - */ - // [Snippet_getIntersection2DSValue_with_point_1_0_0] - { - const auto collision_s = line.getIntersection2DSValue( - 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 + EXPECT_FALSE( + line + .getIntersection2DSValue( + math::geometry::LineSegment(makePoint(1.0, 4.0, 0.0), makePoint(2.0, 2.0, 0.0)), false) + .has_value()); +} - { // parallel no denormalize - EXPECT_THROW( - line.getIntersection2DSValue( - math::geometry::LineSegment(makePoint(0.0, -1.0), makePoint(0.0, 1.0)), false), - common::SimulationError); - } - { // parallel denormalize - EXPECT_THROW( - line.getIntersection2DSValue( - 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( - math::geometry::LineSegment(makePoint(-1.0, 0.5), makePoint(1.0, 0.5)), false); - EXPECT_TRUE(collision_s); - if (collision_s) { - EXPECT_DOUBLE_EQ(collision_s.value(), 0.75); - } - } - { // intersect denormalize - const auto collision_s = line.getIntersection2DSValue( - math::geometry::LineSegment(makePoint(-1.0, 0.5), makePoint(1.0, 0.5)), true); - EXPECT_TRUE(collision_s); - if (collision_s) { - EXPECT_DOUBLE_EQ(collision_s.value(), 1.5); - } - } - { // no intersect no denormalize - const auto collision_s = line.getIntersection2DSValue( - 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( - math::geometry::LineSegment(makePoint(-1.0, 1.5), makePoint(1.0, 1.5)), true); - EXPECT_FALSE(collision_s); - } +TEST(LineSegment, getIntersection2DSValue_line_collinear) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); + + EXPECT_THROW(line.getIntersection2DSValue(line, false), common::SimulationError); + + EXPECT_FALSE( + line + .getIntersection2DSValue( + math::geometry::LineSegment(makePoint(3.0, 5.0, 0.0), makePoint(5.0, 7.0, 0.0)), false) + .has_value()); +} + +TEST(LineSegment, getIntersection2DSValue_point_vertical) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(-1.0, 2.0, 0.0)); + + { + const auto s_value = line.getIntersection2DSValue(makePoint(-1.0, 0.0, 0.0), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 2.0); + } + { + const auto s_value = line.getIntersection2DSValue(makePoint(-1.0, 0.0, 0.0), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.5); + } + { + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-101.0, 0.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(103.0, 0.0, 0.0), false).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-1.0, -107.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-1.0, 109.0, 0.0), false).has_value()); + } +} + +TEST(LineSegment, getIntersection2DSValue_point_horizontal) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 2.0, 0.0), makePoint(1.0, 2.0, 0.0)); + + { + const auto s_value = line.getIntersection2DSValue(makePoint(0.0, 2.0, 0.0), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 1.0); + } + { + const auto s_value = line.getIntersection2DSValue(makePoint(0.0, 2.0, 0.0), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.5); + } + { + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-113.0, 2.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(127.0, 2.0, 0.0), false).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(0.0, -131.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(0.0, 137.0, 0.0), false).has_value()); + } +} + +TEST(LineSegment, getIntersection2DSValue_point_bounds) +{ + const auto line = + math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 4.0, 0.0)); + + { + const auto s_value = line.getIntersection2DSValue(makePoint(-2.0, -2.0, 0.0), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.0); + } + { + const auto s_value = line.getIntersection2DSValue(makePoint(-2.0, -2.0, 0.0), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.0); + } + { + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-139.0, -2.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(149.0, -2.0, 0.0), false).has_value()); + } + + { + const auto s_value = line.getIntersection2DSValue(makePoint(1.0, 4.0, 0.0), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 3.0 * std::sqrt(5)); + } + { + const auto s_value = line.getIntersection2DSValue(makePoint(1.0, 4.0, 0.0), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 1.0); + } + { + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-151.0, 4.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(157.0, 4.0, 0.0), false).has_value()); + } +} + +TEST(LineSegment, getIntersection2DSValue_point_outside) +{ + const auto line = + math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 4.0, 0.0)); + + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-3.0, 1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-1.0, 1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(0.0, 1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(2.0, 1.0, 0.0), true).has_value()); + + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, -5.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, -1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, 3.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, 7.0, 0.0), true).has_value()); + + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(7.0, 7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(7.0, -7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-7.0, 7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-7.0, -7.0, 0.0), true).has_value()); +} + +/// @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) +{ + { + 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::getIntersection2D` function can throw error getting intersection with exact same line segment. From 2dbb4e55ea1950ac18c78fb1b7482ae6d4e4827d Mon Sep 17 00:00:00 2001 From: Mateusz Palczuk Date: Mon, 5 Aug 2024 18:09:04 +0200 Subject: [PATCH 081/304] Fix EgoEntity error where map pose was unable to be set after scenario start, which should be possible for Ego Signed-off-by: Mateusz Palczuk --- simulation/traffic_simulator/src/entity/ego_entity.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index 65d6c56772a..dccfafb41e3 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -286,7 +286,9 @@ auto EgoEntity::setMapPose(const geometry_msgs::msg::Pose & map_pose) -> void entity_status.pose = map_pose; entity_status.lanelet_pose_valid = false; // prefer current lanelet on Autoware side - setStatus(entity_status, helper::getUniqueValues(getRouteLanelets())); + status_->set( + entity_status, helper::getUniqueValues(getRouteLanelets()), + getDefaultMatchingDistanceForLaneletPoseCalculation(), hdmap_utils_ptr_); } } // namespace entity } // namespace traffic_simulator From f9dbfec9468f95ae51a2216f6f873539ff210e2f Mon Sep 17 00:00:00 2001 From: Mateusz Palczuk Date: Mon, 5 Aug 2024 18:12:31 +0200 Subject: [PATCH 082/304] Fix EgoEntity bug where status time was incremented only when Ego was controlled by simulator This bug lead to problems in other checks which relied on the correct status time Signed-off-by: Mateusz Palczuk --- simulation/traffic_simulator/src/entity/ego_entity.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index dccfafb41e3..836f597d166 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -152,6 +152,9 @@ void EgoEntity::onUpdate(double current_time, double step_time) is_controlled_by_simulator_ = false; } } + if (not is_controlled_by_simulator_) { + updateEntityStatusTimestamp(current_time + step_time); + } updateStandStillDuration(step_time); updateTraveledDistance(step_time); From 29bbac4258f0dd4c4c5381d959bd354ccc46d0dc Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 6 Aug 2024 14:26:28 +0900 Subject: [PATCH 083/304] fix: implement Integer::min/max instead of Integer::infinity --- .../include/openscenario_interpreter/syntax/integer.hpp | 4 +++- .../openscenario_interpreter/src/syntax/integer.cpp | 9 +++++++-- .../src/syntax/relative_lane_range.cpp | 4 ++-- 3 files changed, 12 insertions(+), 5 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/integer.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/integer.hpp index 7c8a00e37fc..4b57eb67cb8 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/integer.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/integer.hpp @@ -35,7 +35,9 @@ struct Integer explicit Integer(const std::string &); - static auto infinity() noexcept -> Integer; + static auto max() noexcept -> Integer; + + static auto min() noexcept -> Integer; auto operator+=(const double &) -> Integer &; diff --git a/openscenario/openscenario_interpreter/src/syntax/integer.cpp b/openscenario/openscenario_interpreter/src/syntax/integer.cpp index f9632ec2624..e85244d50ac 100644 --- a/openscenario/openscenario_interpreter/src/syntax/integer.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/integer.cpp @@ -34,9 +34,14 @@ Integer::Integer(const std::string & s) } } -auto Integer::infinity() noexcept -> Integer +auto Integer::max() noexcept -> Integer { - return static_cast(std::numeric_limits::infinity()); + return static_cast(std::numeric_limits::max()); +} + +auto Integer::min() noexcept -> Integer +{ + return static_cast(std::numeric_limits::min()); } auto Integer::operator+=(const double & rhs) -> Integer & diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp index 2911617b6bd..1061128a077 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp @@ -20,8 +20,8 @@ namespace openscenario_interpreter inline namespace syntax { RelativeLaneRange::RelativeLaneRange(const pugi::xml_node & node, Scope & scope) -: from(readAttribute("from", node, scope, -Integer::infinity())), - to(readAttribute("to", node, scope, Integer::infinity())) +: from(readAttribute("from", node, scope, Integer::min())), + to(readAttribute("to", node, scope, Integer::max())) { } } // namespace syntax From 88c672b15c651e7176ce0de7145aa86709eb370e Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 6 Aug 2024 15:02:44 +0900 Subject: [PATCH 084/304] refactor: use boost::math::constants::pi() instead of M_PI --- .../src/syntax/relative_clearance_condition.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index ba584c7edb4..94d29503186 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -12,6 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include #include #include #include @@ -88,7 +89,8 @@ auto RelativeClearanceCondition::evaluate() -> Object return std::all_of( entity_refs.begin(), entity_refs.end(), [&, is_back = - (std::abs(evaluateRelativeHeading(triggering_entity)) > M_2_PI)](const auto & entity) { + (std::abs(evaluateRelativeHeading(triggering_entity)) > + 0.5 * boost::math::constants::pi())](const auto & entity) { auto is_in_lateral_range = [&]() { // The lanes to be checked to left and right of the triggering entity (positive to the y-axis). If omitted: all lanes are checked. if (relative_lane_range.empty()) { From b531b44327ee54a18e201337180bd7868b5626b2 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 6 Aug 2024 15:04:50 +0900 Subject: [PATCH 085/304] feat: add test scenarios for RelativeClearanceCondition to CI test --- test_runner/scenario_test_runner/config/workflow.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/test_runner/scenario_test_runner/config/workflow.txt b/test_runner/scenario_test_runner/config/workflow.txt index 632b7495ced..06d459988cc 100644 --- a/test_runner/scenario_test_runner/config/workflow.txt +++ b/test_runner/scenario_test_runner/config/workflow.txt @@ -4,6 +4,8 @@ $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityConditio $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.DistanceCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.DistanceCondition.Shortest.yaml $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.RelativeDistanceCondition.yaml +$(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml +$(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition-back.yaml $(find-pkg-share scenario_test_runner)/scenario/ControllerAction.AssignControllerAction.yaml $(find-pkg-share scenario_test_runner)/scenario/LongitudinalAction.SpeedAction.yaml $(find-pkg-share scenario_test_runner)/scenario/Property.isBlind.yaml From e1e505bb504d9c5c1ec74877b59439b6a0d7a659 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 08:44:18 +0200 Subject: [PATCH 086/304] getIntersection2D function --- .../test/src/polygon/test_line_segment.cpp | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 5cfc5094078..1dd370967b2 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -97,6 +97,27 @@ TEST(LineSegment, getIntersection2DDisjoint) EXPECT_FALSE(line0.getIntersection2D(line1)); } +TEST(LineSegment, getIntersection2DIntersect) +{ + const auto line0 = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + const auto line1 = math::geometry::LineSegment(makePoint(1.0, 0.0), makePoint(0.0, 1.0)); + + const auto p0 = line0.getIntersection2D(line1); + const auto p1 = line1.getIntersection2D(line0); + + ASSERT_TRUE(p0.has_value()); + ASSERT_TRUE(p1.has_value()); + EXPECT_POINT_EQ(p0.value(), makePoint(0.5, 0.5)); + EXPECT_POINT_EQ(p1.value(), makePoint(0.5, 0.5)); +} + +TEST(LineSegment, getIntersection2DIdentical) +{ + const auto line = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + + EXPECT_THROW(line.getIntersection2D(line), common::SimulationError); +} + TEST(LineSegment, getVector) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0)); From f85c45bb3d50a2ece6aae35a59a3c47d344c435a Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 08:51:56 +0200 Subject: [PATCH 087/304] sort tests, rm old duplicate --- .../test/src/polygon/test_line_segment.cpp | 607 ++++++++---------- 1 file changed, 278 insertions(+), 329 deletions(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 1dd370967b2..6423a3447b2 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -70,285 +70,7 @@ TEST(LineSegment, initializeVectorZeroLength) EXPECT_POINT_EQ(line_segment.end_point, point); } -TEST(LineSegment, isIntersect2DDisjoint) -{ - const math::geometry::LineSegment line0(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makePoint(2.0, 1.0)); - EXPECT_FALSE(line0.isIntersect2D(line1)); -} - -TEST(LineSegment, isIntersect2DIntersect) -{ - const math::geometry::LineSegment line0(makePoint(1.0, 1.0), makePoint(2.0, 1.0)); - const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makeVector(1.0, 1.0), 3.0); - EXPECT_TRUE(line0.isIntersect2D(line1)); -} - -TEST(LineSegment, isIntersect2DIdentical) -{ - const math::geometry::LineSegment line(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - EXPECT_TRUE(line.isIntersect2D(line)); -} - -TEST(LineSegment, getIntersection2DDisjoint) -{ - const math::geometry::LineSegment line0(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makePoint(2.0, 1.0)); - EXPECT_FALSE(line0.getIntersection2D(line1)); -} - -TEST(LineSegment, getIntersection2DIntersect) -{ - const auto line0 = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - const auto line1 = math::geometry::LineSegment(makePoint(1.0, 0.0), makePoint(0.0, 1.0)); - - const auto p0 = line0.getIntersection2D(line1); - const auto p1 = line1.getIntersection2D(line0); - - ASSERT_TRUE(p0.has_value()); - ASSERT_TRUE(p1.has_value()); - EXPECT_POINT_EQ(p0.value(), makePoint(0.5, 0.5)); - EXPECT_POINT_EQ(p1.value(), makePoint(0.5, 0.5)); -} - -TEST(LineSegment, getIntersection2DIdentical) -{ - const auto line = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - - EXPECT_THROW(line.getIntersection2D(line), common::SimulationError); -} - -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)); -} - -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)); -} - -TEST(LineSegment, getNormalVector) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0)); - EXPECT_VECTOR3_EQ(line.getNormalVector(), makeVector(-1.0, 1.0, 0.0)); -} - -TEST(LineSegment, getNormalVector_zeroLength) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(1.0, 2.0, 3.0)); - EXPECT_VECTOR3_EQ(line.getNormalVector(), makeVector(0.0, 0.0, 0.0)); -} - -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)); -} - -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)); -} - -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)); -} - -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); -} - -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)); -} - -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); -} - -TEST(LineSegment, getSlope) -{ - 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); -} - -TEST(LineSegment, getSlopeZeroLength) -{ - 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())); -} - -TEST(LineSegment, getSquaredDistanceIn2D) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); - EXPECT_DOUBLE_EQ(line.getSquaredDistanceIn2D(makePoint(0.0, 1.0, 2.0), 0.5, false), 8.0); -} - -TEST(LineSegment, getSquaredDistanceIn2D_denormalize) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); - EXPECT_DOUBLE_EQ( - line.getSquaredDistanceIn2D(makePoint(0.0, 1.0, 2.0), std::sqrt(3.0), true), 8.0); -} - -TEST(LineSegment, getSquaredDistanceVector) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); - EXPECT_VECTOR3_EQ( - line.getSquaredDistanceVector(makePoint(0.0, 1.0, 2.0), 0.5, false), - makeVector(-2.0, -2.0, -2.0)); -} - -TEST(LineSegment, getSquaredDistanceVector_denormalize) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); - EXPECT_VECTOR3_EQ( - line.getSquaredDistanceVector(makePoint(0.0, 1.0, 2.0), std::sqrt(3.0), true), - makeVector(-2.0, -2.0, -2.0)); -} - -TEST(LineSegment, getLineSegments) -{ - const std::vector points{ - makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0), makePoint(3.0, 4.0, 5.0), - makePoint(4.0, 5.0, 6.0)}; - const std::vector lines = - math::geometry::getLineSegments(points, false); - EXPECT_EQ(lines.size(), size_t(3)); - EXPECT_POINT_EQ(lines[0].start_point, points[0]); - EXPECT_POINT_EQ(lines[0].end_point, points[1]); - EXPECT_POINT_EQ(lines[1].start_point, points[1]); - EXPECT_POINT_EQ(lines[1].end_point, points[2]); - EXPECT_POINT_EQ(lines[2].start_point, points[2]); - EXPECT_POINT_EQ(lines[2].end_point, points[3]); -} - -TEST(LineSegment, getLineSegments_closeStartEnd) -{ - const std::vector points{ - makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0), makePoint(3.0, 4.0, 5.0), - makePoint(4.0, 5.0, 6.0)}; - const std::vector lines = - math::geometry::getLineSegments(points, true); - EXPECT_EQ(lines.size(), size_t(4)); - EXPECT_POINT_EQ(lines[0].start_point, points[0]); - EXPECT_POINT_EQ(lines[0].end_point, points[1]); - EXPECT_POINT_EQ(lines[1].start_point, points[1]); - EXPECT_POINT_EQ(lines[1].end_point, points[2]); - EXPECT_POINT_EQ(lines[2].start_point, points[2]); - EXPECT_POINT_EQ(lines[2].end_point, points[3]); - EXPECT_POINT_EQ(lines[3].start_point, points[3]); - EXPECT_POINT_EQ(lines[3].end_point, points[0]); -} - -TEST(LineSegment, getLineSegmentsVectorEmpty) -{ - const std::vector points; - const std::vector lines = math::geometry::getLineSegments(points); - EXPECT_EQ(lines.size(), size_t(0)); -} - -TEST(LineSegment, getLineSegmentsVectorIdentical) -{ - geometry_msgs::msg::Point point = makePoint(1.0, 2.0, 3.0); - const std::vector points{point, point, point, point}; - const std::vector lines = - math::geometry::getLineSegments(points, false); - EXPECT_EQ(lines.size(), size_t(3)); - EXPECT_POINT_EQ(lines[0].start_point, point); - EXPECT_POINT_EQ(lines[0].end_point, point); - EXPECT_POINT_EQ(lines[1].start_point, point); - EXPECT_POINT_EQ(lines[1].end_point, point); - EXPECT_POINT_EQ(lines[2].start_point, point); - EXPECT_POINT_EQ(lines[2].end_point, point); -} - -TEST(LineSegment, getLineSegmentsVectorIdentical_closeStartEnd) -{ - geometry_msgs::msg::Point point = makePoint(1.0, 2.0, 3.0); - const std::vector points{point, point, point, point}; - const std::vector lines = - math::geometry::getLineSegments(points, true); - EXPECT_EQ(lines.size(), size_t(4)); - EXPECT_POINT_EQ(lines[0].start_point, point); - EXPECT_POINT_EQ(lines[0].end_point, point); - EXPECT_POINT_EQ(lines[1].start_point, point); - EXPECT_POINT_EQ(lines[1].end_point, point); - EXPECT_POINT_EQ(lines[2].start_point, point); - EXPECT_POINT_EQ(lines[2].end_point, point); - EXPECT_POINT_EQ(lines[3].start_point, point); - EXPECT_POINT_EQ(lines[3].end_point, point); -} - -TEST(LineSegment, getSValue) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, false); - EXPECT_TRUE(s); - if (s) { - EXPECT_DOUBLE_EQ(s.value(), 2.0 / 3.0); - } -} - -TEST(LineSegment, getSValue_denormalize) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, true); - EXPECT_TRUE(s); - if (s) { - EXPECT_DOUBLE_EQ(s.value(), std::hypot(2.0, 2.0, 2.0)); - } -} - -TEST(LineSegment, getSValue_outOfRange) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, false); - EXPECT_FALSE(s); -} - -TEST(LineSegment, getSValue_outOfRangeDenormalize) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, true); - EXPECT_FALSE(s); -} - -TEST(LineSegment, getSValue_parallel) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); - const auto s = line.getSValue( - makePose( - 1.0, 0.0, 0.0, - math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), - 1000.0, false); - EXPECT_FALSE(s); -} - -TEST(LineSegment, getSValue_parallelDenormalize) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); - const auto s = line.getSValue( - makePose( - 1.0, 0.0, 0.0, - math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), - 1000.0, true); - EXPECT_FALSE(s); -} - -TEST(LineSegment, GetPoint_outOfBounds_denormalized) +TEST(LineSegment, getPoint_outOfBounds_denormalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); @@ -358,7 +80,7 @@ TEST(LineSegment, GetPoint_outOfBounds_denormalized) EXPECT_THROW(line.getPoint(-1.0, true), common::SimulationError); } -TEST(LineSegment, GetPoint_outOfBounds_normalized) +TEST(LineSegment, getPoint_outOfBounds_normalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); @@ -368,7 +90,7 @@ TEST(LineSegment, GetPoint_outOfBounds_normalized) EXPECT_THROW(line.getPoint(-0.1, false), common::SimulationError); } -TEST(LineSegment, GetPoint_inside_denormalized) +TEST(LineSegment, getPoint_inside_denormalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); @@ -379,7 +101,7 @@ TEST(LineSegment, GetPoint_inside_denormalized) EXPECT_POINT_EQ(line.getPoint(6.0, true), makePoint(3.0, 2.0, -1.0)); } -TEST(LineSegment, GetPoint_inside_normalized) +TEST(LineSegment, getPoint_inside_normalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); @@ -464,6 +186,26 @@ TEST(LineSegment, getPose_pitch) math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, -M_PI_4, M_PI_4)))); } +TEST(LineSegment, isIntersect2DDisjoint) +{ + const math::geometry::LineSegment line0(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makePoint(2.0, 1.0)); + EXPECT_FALSE(line0.isIntersect2D(line1)); +} + +TEST(LineSegment, isIntersect2DIntersect) +{ + const math::geometry::LineSegment line0(makePoint(1.0, 1.0), makePoint(2.0, 1.0)); + const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makeVector(1.0, 1.0), 3.0); + EXPECT_TRUE(line0.isIntersect2D(line1)); +} + +TEST(LineSegment, isIntersect2DIdentical) +{ + const math::geometry::LineSegment line(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + EXPECT_TRUE(line.isIntersect2D(line)); +} + TEST(LineSegment, isIntersect2D_pointInside) { const auto line = @@ -699,57 +441,264 @@ TEST(LineSegment, getIntersection2DSValue_point_outside) EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-7.0, -7.0, 0.0), true).has_value()); } -/// @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, getIntersection2DDisjoint) { - { - 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::getIntersection2D` function can throw error getting intersection with exact same line segment. - * In this case, any s value can be a intersection point, so we cannot return single value. - */ - // [Snippet_getIntersection2D_with_line] - { - EXPECT_THROW(line.getIntersection2D(line), common::SimulationError); - } - // [Snippet_getIntersection2D_with_line] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2D_with_line - - /** - * @note Testing the `LineSegment::getIntersection2D` function can throw error getting intersection with part of the line segment `line`. - * In this case, any s value can be a intersection point, so we cannot return single value. - */ - // [Snippet_getIntersection2D_with_part_of_line] - { - EXPECT_THROW( - line.getIntersection2D(math::geometry::LineSegment( - geometry_msgs::build().x(0).y(-1).z(0), - geometry_msgs::build().x(0).y(0).z(0))), - common::SimulationError); - } - // [Snippet_getIntersection2D_with_part_of_line] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2D_with_part_of_line - - /// @note @note Testing the `LineSegment::getIntersection2D` function can find collision with the line segment with start point (x,y,z) = (1,0,0) and end point (x,y,z) = (-1,0,0) in the cartesian coordinate system and `line`. - // [Snippet_getIntersection2D_line_1_0_0_-1_0_0] - { - const auto point = line.getIntersection2D(math::geometry::LineSegment( - geometry_msgs::build().x(1).y(0).z(0), - geometry_msgs::build().x(-1).y(0).z(0))); - EXPECT_TRUE(point); - if (point) { - EXPECT_POINT_EQ( - point.value(), geometry_msgs::build().x(0).y(0).z(0)); - } - } - // [Snippet_getIntersection2D_line_1_0_0_-1_0_0] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2D_line_1_0_0_-1_0_0 + const math::geometry::LineSegment line0(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makePoint(2.0, 1.0)); + EXPECT_FALSE(line0.getIntersection2D(line1)); +} + +TEST(LineSegment, getIntersection2DIntersect) +{ + const auto line0 = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + const auto line1 = math::geometry::LineSegment(makePoint(1.0, 0.0), makePoint(0.0, 1.0)); + + const auto p0 = line0.getIntersection2D(line1); + const auto p1 = line1.getIntersection2D(line0); + + ASSERT_TRUE(p0.has_value()); + ASSERT_TRUE(p1.has_value()); + EXPECT_POINT_EQ(p0.value(), makePoint(0.5, 0.5)); + EXPECT_POINT_EQ(p1.value(), makePoint(0.5, 0.5)); +} + +TEST(LineSegment, getIntersection2DIdentical) +{ + const auto line = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + + EXPECT_THROW(line.getIntersection2D(line), common::SimulationError); +} + +TEST(LineSegment, getSValue) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); + const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, false); + EXPECT_TRUE(s); + if (s) { + EXPECT_DOUBLE_EQ(s.value(), 2.0 / 3.0); + } +} + +TEST(LineSegment, getSValue_denormalize) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); + const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, true); + EXPECT_TRUE(s); + if (s) { + EXPECT_DOUBLE_EQ(s.value(), std::hypot(2.0, 2.0, 2.0)); } } +TEST(LineSegment, getSValue_outOfRange) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); + const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, false); + EXPECT_FALSE(s); +} + +TEST(LineSegment, getSValue_outOfRangeDenormalize) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); + const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, true); + EXPECT_FALSE(s); +} + +TEST(LineSegment, getSValue_parallel) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); + const auto s = line.getSValue( + makePose( + 1.0, 0.0, 0.0, + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), + 1000.0, false); + EXPECT_FALSE(s); +} + +TEST(LineSegment, getSValue_parallelDenormalize) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); + const auto s = line.getSValue( + makePose( + 1.0, 0.0, 0.0, + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), + 1000.0, true); + EXPECT_FALSE(s); +} + +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)); +} + +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)); +} + +TEST(LineSegment, getNormalVector) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0)); + EXPECT_VECTOR3_EQ(line.getNormalVector(), makeVector(-1.0, 1.0, 0.0)); +} + +TEST(LineSegment, getNormalVector_zeroLength) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(1.0, 2.0, 3.0)); + EXPECT_VECTOR3_EQ(line.getNormalVector(), makeVector(0.0, 0.0, 0.0)); +} + +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)); +} + +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)); +} + +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)); +} + +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); +} + +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)); +} + +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); +} + +TEST(LineSegment, getSlope) +{ + 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); +} + +TEST(LineSegment, getSlopeZeroLength) +{ + 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())); +} + +TEST(LineSegment, getSquaredDistanceIn2D) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); + EXPECT_DOUBLE_EQ(line.getSquaredDistanceIn2D(makePoint(0.0, 1.0, 2.0), 0.5, false), 8.0); +} + +TEST(LineSegment, getSquaredDistanceIn2D_denormalize) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); + EXPECT_DOUBLE_EQ( + line.getSquaredDistanceIn2D(makePoint(0.0, 1.0, 2.0), std::sqrt(3.0), true), 8.0); +} + +TEST(LineSegment, getSquaredDistanceVector) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); + EXPECT_VECTOR3_EQ( + line.getSquaredDistanceVector(makePoint(0.0, 1.0, 2.0), 0.5, false), + makeVector(-2.0, -2.0, -2.0)); +} + +TEST(LineSegment, getSquaredDistanceVector_denormalize) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); + EXPECT_VECTOR3_EQ( + line.getSquaredDistanceVector(makePoint(0.0, 1.0, 2.0), std::sqrt(3.0), true), + makeVector(-2.0, -2.0, -2.0)); +} + +TEST(LineSegment, getLineSegments) +{ + const std::vector points{ + makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0), makePoint(3.0, 4.0, 5.0), + makePoint(4.0, 5.0, 6.0)}; + const std::vector lines = + math::geometry::getLineSegments(points, false); + EXPECT_EQ(lines.size(), size_t(3)); + EXPECT_POINT_EQ(lines[0].start_point, points[0]); + EXPECT_POINT_EQ(lines[0].end_point, points[1]); + EXPECT_POINT_EQ(lines[1].start_point, points[1]); + EXPECT_POINT_EQ(lines[1].end_point, points[2]); + EXPECT_POINT_EQ(lines[2].start_point, points[2]); + EXPECT_POINT_EQ(lines[2].end_point, points[3]); +} + +TEST(LineSegment, getLineSegments_closeStartEnd) +{ + const std::vector points{ + makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0), makePoint(3.0, 4.0, 5.0), + makePoint(4.0, 5.0, 6.0)}; + const std::vector lines = + math::geometry::getLineSegments(points, true); + EXPECT_EQ(lines.size(), size_t(4)); + EXPECT_POINT_EQ(lines[0].start_point, points[0]); + EXPECT_POINT_EQ(lines[0].end_point, points[1]); + EXPECT_POINT_EQ(lines[1].start_point, points[1]); + EXPECT_POINT_EQ(lines[1].end_point, points[2]); + EXPECT_POINT_EQ(lines[2].start_point, points[2]); + EXPECT_POINT_EQ(lines[2].end_point, points[3]); + EXPECT_POINT_EQ(lines[3].start_point, points[3]); + EXPECT_POINT_EQ(lines[3].end_point, points[0]); +} + +TEST(LineSegment, getLineSegmentsVectorEmpty) +{ + const std::vector points; + const std::vector lines = math::geometry::getLineSegments(points); + EXPECT_EQ(lines.size(), size_t(0)); +} + +TEST(LineSegment, getLineSegmentsVectorIdentical) +{ + geometry_msgs::msg::Point point = makePoint(1.0, 2.0, 3.0); + const std::vector points{point, point, point, point}; + const std::vector lines = + math::geometry::getLineSegments(points, false); + EXPECT_EQ(lines.size(), size_t(3)); + EXPECT_POINT_EQ(lines[0].start_point, point); + EXPECT_POINT_EQ(lines[0].end_point, point); + EXPECT_POINT_EQ(lines[1].start_point, point); + EXPECT_POINT_EQ(lines[1].end_point, point); + EXPECT_POINT_EQ(lines[2].start_point, point); + EXPECT_POINT_EQ(lines[2].end_point, point); +} + +TEST(LineSegment, getLineSegmentsVectorIdentical_closeStartEnd) +{ + geometry_msgs::msg::Point point = makePoint(1.0, 2.0, 3.0); + const std::vector points{point, point, point, point}; + const std::vector lines = + math::geometry::getLineSegments(points, true); + EXPECT_EQ(lines.size(), size_t(4)); + EXPECT_POINT_EQ(lines[0].start_point, point); + EXPECT_POINT_EQ(lines[0].end_point, point); + EXPECT_POINT_EQ(lines[1].start_point, point); + EXPECT_POINT_EQ(lines[1].end_point, point); + EXPECT_POINT_EQ(lines[2].start_point, point); + EXPECT_POINT_EQ(lines[2].end_point, point); + EXPECT_POINT_EQ(lines[3].start_point, point); + EXPECT_POINT_EQ(lines[3].end_point, point); +} + int main(int argc, char ** argv) { testing::InitGoogleTest(&argc, argv); From e53de65f30c5f59e7420eff91df3f744c1b4c406 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 08:55:25 +0200 Subject: [PATCH 088/304] tune down numbers --- common/math/geometry/test/src/polygon/test_line_segment.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 6423a3447b2..3d3b590394b 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -221,8 +221,7 @@ TEST(LineSegment, isIntersect2D_pointOutside) math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); EXPECT_FALSE(line.isIntersect2D(makePoint(-1.0, -1.0, 1.0))); - EXPECT_FALSE(line.isIntersect2D( - makePoint(0.0, std::numeric_limits::max(), std::numeric_limits::max()))); + EXPECT_FALSE(line.isIntersect2D(makePoint(0.0, 89.0, 97.0))); EXPECT_FALSE(line.isIntersect2D(makePoint(-3.0, 0.0, 0.0))); EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 0.0, 0.0))); From a0bbb4574aa9d5ff304e189620d185d7f9542080 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 6 Aug 2024 16:13:26 +0900 Subject: [PATCH 089/304] fix: update target entities of RelativeClearanceCondition in every frame --- .../syntax/relative_clearance_condition.cpp | 37 ++++++++++--------- 1 file changed, 20 insertions(+), 17 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index 94d29503186..e8ab07f7897 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -32,22 +32,7 @@ RelativeClearanceCondition::RelativeClearanceCondition( free_space(readAttribute("freeSpace", node, scope)), opposite_lanes(readAttribute("oppositeLanes", node, scope)), relative_lane_range(readElements("RelativeLaneRange", node, scope)), - entity_refs([&]() { - auto entities = readElements("EntityRef", node, scope); - if (entities.empty()) { - for (const auto & entity : *global().entities) { - if ( - std::find_if( - triggering_entities.entity_refs.begin(), triggering_entities.entity_refs.end(), - [&](const auto & triggering_entity) { - return triggering_entity.name() == entity.first; - }) == triggering_entities.entity_refs.end()) { - entities.emplace_back(entity.first); - } - } - } - return entities; - }()), + entity_refs(readElements("EntityRef", node, scope)), triggering_entities(triggering_entities) { } @@ -85,9 +70,27 @@ auto RelativeClearanceCondition::description() const -> String auto RelativeClearanceCondition::evaluate() -> Object { + auto target_entities = [&]() { + if (not entity_refs.empty()) { + return entity_refs; + } else { + std::list entities; + for (const auto & entity : *global().entities) { + if ( + std::find_if( + triggering_entities.entity_refs.begin(), triggering_entities.entity_refs.end(), + [&](const auto & triggering_entity) { + return triggering_entity.name() == entity.first; + }) == triggering_entities.entity_refs.end()) { + entities.emplace_back(entity.first); + } + } + return entities; + } + }(); return asBoolean(triggering_entities.apply([&](const auto & triggering_entity) { return std::all_of( - entity_refs.begin(), entity_refs.end(), + target_entities.begin(), target_entities.end(), [&, is_back = (std::abs(evaluateRelativeHeading(triggering_entity)) > 0.5 * boost::math::constants::pi())](const auto & entity) { From 21110dfccb7905cde8ea4a68a914afe5565e0f38 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 09:47:57 +0200 Subject: [PATCH 090/304] quaternion operators --- .../test/src/quaternion/test_quaternion.cpp | 30 +++++++++---------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/common/math/geometry/test/src/quaternion/test_quaternion.cpp b/common/math/geometry/test/src/quaternion/test_quaternion.cpp index 14c7f3a82ba..0b15b1b777b 100644 --- a/common/math/geometry/test/src/quaternion/test_quaternion.cpp +++ b/common/math/geometry/test/src/quaternion/test_quaternion.cpp @@ -23,42 +23,42 @@ constexpr double EPS = 1e-6; -TEST(Quaternion, testCase1) +TEST(Quaternion, operator_addition) { using math::geometry::operator+; - auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto ans = q1 + q2; + const auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto ans = q1 + q2; EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 2, 0, 2)) } -TEST(Quaternion, testCase2) +TEST(Quaternion, operator_subtraction) { using math::geometry::operator-; - auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto ans = q1 - q2; + const auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto ans = q1 - q2; EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 0, 0, 0)) } -TEST(Quaternion, testCase3) +TEST(Quaternion, operator_multiplication) { using math::geometry::operator*; - auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto ans = q1 * q2; + const auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto ans = q1 * q2; EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 2, 0, 0)) } -TEST(Quaternion, testCase4) +TEST(Quaternion, operator_additionAssignment) { using math::geometry::operator+=; - auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); q1 += q2; EXPECT_QUATERNION_EQ(q1, math::geometry::makeQuaternion(0, 2, 0, 2)) } From 0f44b0caf1973bec4cecfc7236283ef96b512f91 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 09:57:54 +0200 Subject: [PATCH 091/304] rename tests in CatmullRomSpline --- common/math/geometry/test/src/quaternion/test_quaternion.cpp | 2 +- .../math/geometry/test/src/spline/test_catmull_rom_spline.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/common/math/geometry/test/src/quaternion/test_quaternion.cpp b/common/math/geometry/test/src/quaternion/test_quaternion.cpp index 0b15b1b777b..d2b7aa857c8 100644 --- a/common/math/geometry/test/src/quaternion/test_quaternion.cpp +++ b/common/math/geometry/test/src/quaternion/test_quaternion.cpp @@ -57,7 +57,7 @@ TEST(Quaternion, operator_additionAssignment) { using math::geometry::operator+=; - const auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); + auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); const auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); q1 += q2; EXPECT_QUATERNION_EQ(q1, math::geometry::makeQuaternion(0, 2, 0, 2)) diff --git a/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp b/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp index b224e7d0d45..68ad3855eca 100644 --- a/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp +++ b/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp @@ -70,7 +70,7 @@ void addOffset(geometry_msgs::msg::Point & point, const double offset, const dou /// @brief Testing the `CatmullRomSpline::getCollisionPointIn2D` function works valid. /// In this test case, number of the control points of the catmull-rom spline (variable name `spline`) is 2, so the shape of the value `spline` is line segment. -TEST(CatmullRomSpline, GetCollisionWith2ControlPoints) +TEST(CatmullRomSpline, getCollisionPointIn2D_2ControlPoints) { /// @note The `spline` has control points p0 and p1. Control point p0 is point (x,y,z) = (0,0,0) and control point p1 is point (x,y,z) = (1,0,0) in the cartesian coordinate system. // [Snippet_construct_spline] @@ -149,7 +149,7 @@ TEST(CatmullRomSpline, GetCollisionWith2ControlPoints) /// @brief Testing the `CatmullRomSpline::getCollisionPointIn2D` function works valid /// In this test case, number of the control points of the catmull-rom spline (variable name `spline`) is 1, so the shape of the value `spline` is single point. -TEST(CatmullRomSpline, GetCollisionWith1ControlPoint) +TEST(CatmullRomSpline, getCollisionPointIn2D_1ControlPoint) { /// @note The variable `spline` has control point with point (x,y,z) = (0,1,0) in the cartesian coordinate system. So, `spline` is same as point (x,y,z) = (0,1,0). auto spline = math::geometry::CatmullRomSpline( From 2085b6c22f175ded15ff67532c10d2691156a245 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 10:20:31 +0200 Subject: [PATCH 092/304] rename tests in HermiteCurve --- .../test/src/spline/test_hermite_curve.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/common/math/geometry/test/src/spline/test_hermite_curve.cpp b/common/math/geometry/test/src/spline/test_hermite_curve.cpp index 08ab6c3c4a0..833a2079322 100644 --- a/common/math/geometry/test/src/spline/test_hermite_curve.cpp +++ b/common/math/geometry/test/src/spline/test_hermite_curve.cpp @@ -503,7 +503,7 @@ TEST(HermiteCurveTest, getTangentVector4) EXPECT_DOUBLE_EQ(curve.getTangentVector(0.5, false).y / norm, 1.0 / std::sqrt(2.0)); } -TEST(HermiteCurveTest, getTangentVectorAutoscale1) +TEST(HermiteCurveTest, getTangentVectorDenormalized1) { //p(0,0) v(1,0)-> p(1,1) v(0,1) const auto curve = makeCurve1(); constexpr double eps = 0.1; @@ -513,7 +513,7 @@ TEST(HermiteCurveTest, getTangentVectorAutoscale1) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getTangentVectorAutoscale2) +TEST(HermiteCurveTest, getTangentVectorDenormalized2) { //p(0,0) v(1,0)-> p(1,-1) v(0,-1) const auto curve = makeCurve2(); constexpr double eps = 0.1; @@ -523,7 +523,7 @@ TEST(HermiteCurveTest, getTangentVectorAutoscale2) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getTangentVectorAutoscale3) +TEST(HermiteCurveTest, getTangentVectorDenormalized3) { //p(1,1) v(0,-1)-> p(0,0) v(-1,0) const auto curve = makeCurve3(); constexpr double eps = 0.1; @@ -533,7 +533,7 @@ TEST(HermiteCurveTest, getTangentVectorAutoscale3) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getTangentVectorAutoscale4) +TEST(HermiteCurveTest, getTangentVectorDenormalized4) { //p(1,-1) v(0,1)-> p(0,0) v(-1,0) const auto curve = makeCurve4(); constexpr double eps = 0.1; @@ -579,7 +579,7 @@ TEST(HermiteCurveTest, getNormalVector4) EXPECT_DOUBLE_EQ(curve.getNormalVector(0.5, false).y / norm, -1.0 / std::sqrt(2.0)); } -TEST(HermiteCurveTest, getNormalVectorAutoscale1) +TEST(HermiteCurveTest, getNormalVectorDenormalized1) { //p(0,0) v(1,0)-> p(1,1) v(0,1) const auto curve = makeCurve1(); constexpr double eps = 0.1; @@ -589,7 +589,7 @@ TEST(HermiteCurveTest, getNormalVectorAutoscale1) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getNormalVectorAutoscale2) +TEST(HermiteCurveTest, getNormalVectorDenormalized2) { //p(0,0) v(1,0)-> p(1,-1) v(0,-1) const auto curve = makeCurve2(); constexpr double eps = 0.1; @@ -599,7 +599,7 @@ TEST(HermiteCurveTest, getNormalVectorAutoscale2) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getNormalVectorAutoscale3) +TEST(HermiteCurveTest, getNormalVectorDenormalized3) { //p(1,1) v(0,-1)-> p(0,0) v(-1,0) const auto curve = makeCurve3(); constexpr double eps = 0.1; @@ -609,7 +609,7 @@ TEST(HermiteCurveTest, getNormalVectorAutoscale3) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getNormalVectorAutoscale4) +TEST(HermiteCurveTest, getNormalVectorDenormalized4) { //p(1,-1) v(0,1)-> p(0,0) v(-1,0) const auto curve = makeCurve4(); constexpr double eps = 0.1; From 86f1f8f377f5ddf569b3598c18ac3168d90a7eed Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 10:28:13 +0200 Subject: [PATCH 093/304] clean up vector3 --- .../test/src/spline/test_hermite_curve.cpp | 2 +- .../test/src/vector3/test_vector3.cpp | 22 +++++++------------ 2 files changed, 9 insertions(+), 15 deletions(-) diff --git a/common/math/geometry/test/src/spline/test_hermite_curve.cpp b/common/math/geometry/test/src/spline/test_hermite_curve.cpp index 833a2079322..0ea5f153526 100644 --- a/common/math/geometry/test/src/spline/test_hermite_curve.cpp +++ b/common/math/geometry/test/src/spline/test_hermite_curve.cpp @@ -320,7 +320,7 @@ TEST(HermiteCurveTest, getSValue) EXPECT_NEAR(s2.value(), 1.0, EPS); } -TEST(HermiteCurveTest, getSValueAutoscale) +TEST(HermiteCurveTest, getSValueDenormalized) { const auto curve = makeLine2(); diff --git a/common/math/geometry/test/src/vector3/test_vector3.cpp b/common/math/geometry/test/src/vector3/test_vector3.cpp index b07cfede363..45f24c3b726 100644 --- a/common/math/geometry/test/src/vector3/test_vector3.cpp +++ b/common/math/geometry/test/src/vector3/test_vector3.cpp @@ -75,6 +75,12 @@ TEST(Vector3, normalize_msgVector) const double norm = std::sqrt(14.0); EXPECT_VECTOR3_EQ( math::geometry::normalize(vec0), makeVector(1.0 / norm, 2.0 / norm, 3.0 / norm)); + + geometry_msgs::msg::Vector3 vec1; + EXPECT_DOUBLE_EQ(math::geometry::norm(vec1), 0.0); + + geometry_msgs::msg::Vector3 vec2 = makeVector(1.0, 0.0, 3.0); + EXPECT_DOUBLE_EQ(math::geometry::norm(vec2), std::sqrt(10.0)); } TEST(Vector3, normalize_customVector) @@ -184,25 +190,13 @@ TEST(Vector3, additionAssignment_customVector) EXPECT_VECTOR3_EQ(vec0, makeVector(0.0, 0.0, 2.0)); } -TEST(Vector3, vector3_getSizeZero) -{ - geometry_msgs::msg::Vector3 vec; - EXPECT_DOUBLE_EQ(math::geometry::norm(vec), 0.0); -} - -TEST(Vector3, vector3_getSize) -{ - geometry_msgs::msg::Vector3 vec = makeVector(1.0, 0.0, 3.0); - EXPECT_DOUBLE_EQ(math::geometry::norm(vec), std::sqrt(10.0)); -} - -TEST(Vector3, vector3_normalizeZero) +TEST(Vector3, normalize_zeroLength) { geometry_msgs::msg::Vector3 vec; EXPECT_THROW(math::geometry::normalize(vec), common::SimulationError); } -TEST(Vector3, vector3_normalize) +TEST(Vector3, normalize) { geometry_msgs::msg::Vector3 vec = makeVector(1.0, 0.0, 3.0); vec = math::geometry::normalize(vec); From 132ede4236c08394468966fa37a3eca5e211c376 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 10:29:37 +0200 Subject: [PATCH 094/304] bounding_box clean up --- common/math/geometry/test/src/test_bounding_box.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/common/math/geometry/test/src/test_bounding_box.cpp b/common/math/geometry/test/src/test_bounding_box.cpp index c6df82911d0..36abed690c3 100644 --- a/common/math/geometry/test/src/test_bounding_box.cpp +++ b/common/math/geometry/test/src/test_bounding_box.cpp @@ -46,7 +46,7 @@ TEST(BoundingBox, getPointsFromBboxCustom) EXPECT_POINT_EQ(points[3], makePoint(6.5, -2.0, 1.0)); } -TEST(BoundingBox, get2DPolygonZeroPose) +TEST(BoundingBox, toPolygon2D_zeroPose) { geometry_msgs::msg::Pose pose; traffic_simulator_msgs::msg::BoundingBox bounding_box = makeBbox(2.0, 2.0, 2.0); @@ -61,7 +61,7 @@ TEST(BoundingBox, get2DPolygonZeroPose) EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(1.0, 1.0)); } -TEST(BoundingBox, get2DPolygonOnlyTranslation) +TEST(BoundingBox, toPolygon2D_onlyTranslation) { geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); traffic_simulator_msgs::msg::BoundingBox bounding_box = makeBbox(2.0, 2.0, 2.0); @@ -76,7 +76,7 @@ TEST(BoundingBox, get2DPolygonOnlyTranslation) EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(2.0, 3.0)); } -TEST(BoundingBox, get2DPolygonFullPose) +TEST(BoundingBox, toPolygon2D_fullPose) { geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); pose.orientation = math::geometry::convertEulerAngleToQuaternion( From 21730c7962ac2418f245dedede8242dde7501cc4 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 11:49:28 +0200 Subject: [PATCH 095/304] add comments --- .../test/src/polygon/test_line_segment.cpp | 66 +++++++++++++++++++ .../test/src/quaternion/test_quaternion.cpp | 12 ++++ .../test/src/spline/test_hermite_curve.cpp | 27 ++++++++ .../geometry/test/src/test_bounding_box.cpp | 9 +++ .../test/src/vector3/test_vector3.cpp | 6 ++ 5 files changed, 120 insertions(+) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 3d3b590394b..9ab3829d121 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -70,6 +70,9 @@ TEST(LineSegment, initializeVectorZeroLength) EXPECT_POINT_EQ(line_segment.end_point, point); } +/** + * @note Test error throwing when s is out of bounds. + */ TEST(LineSegment, getPoint_outOfBounds_denormalized) { const auto line = @@ -80,6 +83,9 @@ TEST(LineSegment, getPoint_outOfBounds_denormalized) EXPECT_THROW(line.getPoint(-1.0, true), common::SimulationError); } +/** + * @note Test error throwing when normalized s is out of bounds. + */ TEST(LineSegment, getPoint_outOfBounds_normalized) { const auto line = @@ -90,6 +96,9 @@ TEST(LineSegment, getPoint_outOfBounds_normalized) EXPECT_THROW(line.getPoint(-0.1, false), common::SimulationError); } +/** + * @note Test calculation correctness when s is out of bounds. + */ TEST(LineSegment, getPoint_inside_denormalized) { const auto line = @@ -101,6 +110,9 @@ TEST(LineSegment, getPoint_inside_denormalized) EXPECT_POINT_EQ(line.getPoint(6.0, true), makePoint(3.0, 2.0, -1.0)); } +/** + * @note Test calculation correctness when normalized s is out of bounds. + */ TEST(LineSegment, getPoint_inside_normalized) { const auto line = @@ -112,6 +124,9 @@ TEST(LineSegment, getPoint_inside_normalized) EXPECT_POINT_EQ(line.getPoint(1.0, false), makePoint(3.0, 2.0, -1.0)); } +/** + * @note Test calculation correctness with denormalized s. + */ TEST(LineSegment, getPose_denormalized) { const auto line = @@ -136,6 +151,9 @@ TEST(LineSegment, getPose_denormalized) 3.0, 2.0, 4.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); } +/** + * @note Test calculation correctness with normalized s. + */ TEST(LineSegment, getPose_normalized) { const auto line = @@ -160,6 +178,9 @@ TEST(LineSegment, getPose_normalized) 3.0, 2.0, 4.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); } +/** + * @note Test pitch calculation correctness with fill_pitch = true. + */ TEST(LineSegment, getPose_pitch) { const auto line = math::geometry::LineSegment( @@ -206,6 +227,9 @@ TEST(LineSegment, isIntersect2DIdentical) EXPECT_TRUE(line.isIntersect2D(line)); } +/** + * @note Test function behavior with a point on the line. + */ TEST(LineSegment, isIntersect2D_pointInside) { const auto line = @@ -215,6 +239,9 @@ TEST(LineSegment, isIntersect2D_pointInside) EXPECT_TRUE(line.isIntersect2D(makePoint(0.0, -1.0, 0.0))); } +/** + * @note Test function behavior with a point outside of the line. + */ TEST(LineSegment, isIntersect2D_pointOutside) { const auto line = @@ -227,6 +254,9 @@ TEST(LineSegment, isIntersect2D_pointOutside) EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 0.0, 0.0))); } +/** + * @note Test function behavior with a point that is collinear and external to the line. + */ TEST(LineSegment, isIntersect2D_pointCollinear) { const auto line = @@ -239,6 +269,9 @@ TEST(LineSegment, isIntersect2D_pointCollinear) EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 3.0, 0.0))); } +/** + * @note Test function behavior with a point on an end of the line. + */ TEST(LineSegment, isIntersect2D_pointOnEnd) { const auto line = @@ -251,6 +284,9 @@ TEST(LineSegment, isIntersect2D_pointOnEnd) EXPECT_TRUE(line.isIntersect2D(makePoint(3.0, 2.0, -5.0))); } +/** + * @note Test result correctness with a line intersecting with a vertical line. + */ TEST(LineSegment, getIntersection2DSValue_line_vertical) { const auto line = @@ -269,6 +305,9 @@ TEST(LineSegment, getIntersection2DSValue_line_vertical) } } +/** + * @note Test result correctness with a line intersecting with a horizontal line. + */ TEST(LineSegment, getIntersection2DSValue_line_horizontal) { const auto line = @@ -287,6 +326,9 @@ TEST(LineSegment, getIntersection2DSValue_line_horizontal) } } +/** + * @note Test result correctness with lines intersecting at the start and end of a line. + */ TEST(LineSegment, getIntersection2DSValue_line_bounds) { const auto line = @@ -305,6 +347,9 @@ TEST(LineSegment, getIntersection2DSValue_line_bounds) } } +/** + * @note Test result correctness with a line outside of the line. + */ TEST(LineSegment, getIntersection2DSValue_line_outside) { const auto line = @@ -323,6 +368,9 @@ TEST(LineSegment, getIntersection2DSValue_line_outside) .has_value()); } +/** + * @note Test result correctness when lines are collinear. + */ TEST(LineSegment, getIntersection2DSValue_line_collinear) { const auto line = @@ -337,6 +385,9 @@ TEST(LineSegment, getIntersection2DSValue_line_collinear) .has_value()); } +/** + * @note Test result correctness with a point inside a vertical line. + */ TEST(LineSegment, getIntersection2DSValue_point_vertical) { const auto line = @@ -360,6 +411,9 @@ TEST(LineSegment, getIntersection2DSValue_point_vertical) } } +/** + * @note Test result correctness with a point inside a horizontal line. + */ TEST(LineSegment, getIntersection2DSValue_point_horizontal) { const auto line = @@ -383,6 +437,9 @@ TEST(LineSegment, getIntersection2DSValue_point_horizontal) } } +/** + * @note Test result correctness with points at the start and end of a line. + */ TEST(LineSegment, getIntersection2DSValue_point_bounds) { const auto line = @@ -419,6 +476,9 @@ TEST(LineSegment, getIntersection2DSValue_point_bounds) } } +/** + * @note Test result correctness with a point outside of the line. + */ TEST(LineSegment, getIntersection2DSValue_point_outside) { const auto line = @@ -447,6 +507,9 @@ TEST(LineSegment, getIntersection2DDisjoint) EXPECT_FALSE(line0.getIntersection2D(line1)); } +/** + * @note Test function behavior with two intersecting lines. + */ TEST(LineSegment, getIntersection2DIntersect) { const auto line0 = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); @@ -461,6 +524,9 @@ TEST(LineSegment, getIntersection2DIntersect) EXPECT_POINT_EQ(p1.value(), makePoint(0.5, 0.5)); } +/** + * @note Test function behavior with two identical lines. + */ TEST(LineSegment, getIntersection2DIdentical) { const auto line = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); diff --git a/common/math/geometry/test/src/quaternion/test_quaternion.cpp b/common/math/geometry/test/src/quaternion/test_quaternion.cpp index d2b7aa857c8..0b31df60805 100644 --- a/common/math/geometry/test/src/quaternion/test_quaternion.cpp +++ b/common/math/geometry/test/src/quaternion/test_quaternion.cpp @@ -23,6 +23,9 @@ constexpr double EPS = 1e-6; +/** + * @note Test result correctness with a basic example. + */ TEST(Quaternion, operator_addition) { using math::geometry::operator+; @@ -33,6 +36,9 @@ TEST(Quaternion, operator_addition) EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 2, 0, 2)) } +/** + * @note Test result correctness with a basic example. + */ TEST(Quaternion, operator_subtraction) { using math::geometry::operator-; @@ -43,6 +49,9 @@ TEST(Quaternion, operator_subtraction) EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 0, 0, 0)) } +/** + * @note Test result correctness with a basic example. + */ TEST(Quaternion, operator_multiplication) { using math::geometry::operator*; @@ -53,6 +62,9 @@ TEST(Quaternion, operator_multiplication) EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 2, 0, 0)) } +/** + * @note Test result correctness with a basic example. + */ TEST(Quaternion, operator_additionAssignment) { using math::geometry::operator+=; diff --git a/common/math/geometry/test/src/spline/test_hermite_curve.cpp b/common/math/geometry/test/src/spline/test_hermite_curve.cpp index 0ea5f153526..96eb39fd2ec 100644 --- a/common/math/geometry/test/src/spline/test_hermite_curve.cpp +++ b/common/math/geometry/test/src/spline/test_hermite_curve.cpp @@ -320,6 +320,9 @@ TEST(HermiteCurveTest, getSValue) EXPECT_NEAR(s2.value(), 1.0, EPS); } +/** + * @note Test function correctness with parameter denormalize_s = true. + */ TEST(HermiteCurveTest, getSValueDenormalized) { const auto curve = makeLine2(); @@ -503,6 +506,9 @@ TEST(HermiteCurveTest, getTangentVector4) EXPECT_DOUBLE_EQ(curve.getTangentVector(0.5, false).y / norm, 1.0 / std::sqrt(2.0)); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getTangentVectorDenormalized1) { //p(0,0) v(1,0)-> p(1,1) v(0,1) const auto curve = makeCurve1(); @@ -513,6 +519,9 @@ TEST(HermiteCurveTest, getTangentVectorDenormalized1) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getTangentVectorDenormalized2) { //p(0,0) v(1,0)-> p(1,-1) v(0,-1) const auto curve = makeCurve2(); @@ -523,6 +532,9 @@ TEST(HermiteCurveTest, getTangentVectorDenormalized2) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getTangentVectorDenormalized3) { //p(1,1) v(0,-1)-> p(0,0) v(-1,0) const auto curve = makeCurve3(); @@ -533,6 +545,9 @@ TEST(HermiteCurveTest, getTangentVectorDenormalized3) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getTangentVectorDenormalized4) { //p(1,-1) v(0,1)-> p(0,0) v(-1,0) const auto curve = makeCurve4(); @@ -579,6 +594,9 @@ TEST(HermiteCurveTest, getNormalVector4) EXPECT_DOUBLE_EQ(curve.getNormalVector(0.5, false).y / norm, -1.0 / std::sqrt(2.0)); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getNormalVectorDenormalized1) { //p(0,0) v(1,0)-> p(1,1) v(0,1) const auto curve = makeCurve1(); @@ -589,6 +607,9 @@ TEST(HermiteCurveTest, getNormalVectorDenormalized1) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getNormalVectorDenormalized2) { //p(0,0) v(1,0)-> p(1,-1) v(0,-1) const auto curve = makeCurve2(); @@ -599,6 +620,9 @@ TEST(HermiteCurveTest, getNormalVectorDenormalized2) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getNormalVectorDenormalized3) { //p(1,1) v(0,-1)-> p(0,0) v(-1,0) const auto curve = makeCurve3(); @@ -609,6 +633,9 @@ TEST(HermiteCurveTest, getNormalVectorDenormalized3) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getNormalVectorDenormalized4) { //p(1,-1) v(0,1)-> p(0,0) v(-1,0) const auto curve = makeCurve4(); diff --git a/common/math/geometry/test/src/test_bounding_box.cpp b/common/math/geometry/test/src/test_bounding_box.cpp index 36abed690c3..7ee06e9cfa3 100644 --- a/common/math/geometry/test/src/test_bounding_box.cpp +++ b/common/math/geometry/test/src/test_bounding_box.cpp @@ -46,6 +46,9 @@ TEST(BoundingBox, getPointsFromBboxCustom) EXPECT_POINT_EQ(points[3], makePoint(6.5, -2.0, 1.0)); } +/** + * @note Test obtaining polygon from bounding box with no transformation applied. + */ TEST(BoundingBox, toPolygon2D_zeroPose) { geometry_msgs::msg::Pose pose; @@ -61,6 +64,9 @@ TEST(BoundingBox, toPolygon2D_zeroPose) EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(1.0, 1.0)); } +/** + * @note Test obtaining polygon from bounding box with only translation applied. + */ TEST(BoundingBox, toPolygon2D_onlyTranslation) { geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); @@ -76,6 +82,9 @@ TEST(BoundingBox, toPolygon2D_onlyTranslation) EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(2.0, 3.0)); } +/** + * @note Test obtaining polygon from bounding box with full transformation applied (translation + rotation). + */ TEST(BoundingBox, toPolygon2D_fullPose) { geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); diff --git a/common/math/geometry/test/src/vector3/test_vector3.cpp b/common/math/geometry/test/src/vector3/test_vector3.cpp index 45f24c3b726..c75f7177d3e 100644 --- a/common/math/geometry/test/src/vector3/test_vector3.cpp +++ b/common/math/geometry/test/src/vector3/test_vector3.cpp @@ -54,6 +54,9 @@ TEST(Vector3, hypot_customVector) EXPECT_DOUBLE_EQ(math::geometry::hypot(vec0, vec1), 6.0); } +/** + * @note Test function correctness with parameter that is ros message vector. + */ TEST(Vector3, norm_msgVector) { geometry_msgs::msg::Vector3 vec0 = makeVector(1.0, 2.0, 3.0); @@ -190,6 +193,9 @@ TEST(Vector3, additionAssignment_customVector) EXPECT_VECTOR3_EQ(vec0, makeVector(0.0, 0.0, 2.0)); } +/** + * @note Test function correctness when one of the vectors has length of 0. + */ TEST(Vector3, normalize_zeroLength) { geometry_msgs::msg::Vector3 vec; From acf3488fcb15d65e3b19c939577d986807c9709b Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 14:13:19 +0200 Subject: [PATCH 096/304] refactor toPolygon2D tests --- .../geometry/test/src/test_bounding_box.cpp | 72 ++++++++++--------- 1 file changed, 37 insertions(+), 35 deletions(-) diff --git a/common/math/geometry/test/src/test_bounding_box.cpp b/common/math/geometry/test/src/test_bounding_box.cpp index 7ee06e9cfa3..b3449f994e4 100644 --- a/common/math/geometry/test/src/test_bounding_box.cpp +++ b/common/math/geometry/test/src/test_bounding_box.cpp @@ -51,17 +51,17 @@ TEST(BoundingBox, getPointsFromBboxCustom) */ TEST(BoundingBox, toPolygon2D_zeroPose) { - geometry_msgs::msg::Pose pose; - traffic_simulator_msgs::msg::BoundingBox bounding_box = makeBbox(2.0, 2.0, 2.0); - boost::geometry::model::polygon> poly = - math::geometry::toPolygon2D(pose, bounding_box); - EXPECT_EQ(poly.inners().size(), size_t(0)); - EXPECT_EQ(poly.outer().size(), size_t(5)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[0], makePoint(1.0, 1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[1], makePoint(-1.0, 1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[2], makePoint(-1.0, -1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[3], makePoint(1.0, -1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(1.0, 1.0)); + const auto pose = geometry_msgs::msg::Pose(); + const auto bounding_box = makeBbox(2.0, 2.0, 2.0); + const auto polygon = math::geometry::toPolygon2D(pose, bounding_box); + + ASSERT_EQ(polygon.inners().size(), static_cast(0)); + ASSERT_EQ(polygon.outer().size(), static_cast(5)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[0], makePoint(1.0, 1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[1], makePoint(-1.0, 1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[2], makePoint(-1.0, -1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[3], makePoint(1.0, -1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[4], makePoint(1.0, 1.0)); } /** @@ -69,17 +69,17 @@ TEST(BoundingBox, toPolygon2D_zeroPose) */ TEST(BoundingBox, toPolygon2D_onlyTranslation) { - geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); - traffic_simulator_msgs::msg::BoundingBox bounding_box = makeBbox(2.0, 2.0, 2.0); - boost::geometry::model::polygon> poly = - math::geometry::toPolygon2D(pose, bounding_box); - EXPECT_EQ(poly.inners().size(), size_t(0)); - EXPECT_EQ(poly.outer().size(), size_t(5)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[0], makePoint(2.0, 3.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[1], makePoint(0.0, 3.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[2], makePoint(0.0, 1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[3], makePoint(2.0, 1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(2.0, 3.0)); + const auto pose = makePose(1.0, 2.0); + const auto bounding_box = makeBbox(2.0, 2.0, 2.0); + const auto polygon = math::geometry::toPolygon2D(pose, bounding_box); + + ASSERT_EQ(polygon.inners().size(), static_cast(0)); + ASSERT_EQ(polygon.outer().size(), static_cast(5)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[0], makePoint(2.0, 3.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[1], makePoint(0.0, 3.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[2], makePoint(0.0, 1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[3], makePoint(2.0, 1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[4], makePoint(2.0, 3.0)); } /** @@ -87,21 +87,23 @@ TEST(BoundingBox, toPolygon2D_onlyTranslation) */ TEST(BoundingBox, toPolygon2D_fullPose) { - geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); - pose.orientation = math::geometry::convertEulerAngleToQuaternion( - geometry_msgs::build().x(0.0).y(0.0).z(30.0 * M_PI / 180.0)); - traffic_simulator_msgs::msg::BoundingBox bounding_box = makeBbox(2.0, 2.0, 2.0); - boost::geometry::model::polygon> poly = - math::geometry::toPolygon2D(pose, bounding_box); - EXPECT_EQ(poly.inners().size(), size_t(0)); - EXPECT_EQ(poly.outer().size(), size_t(5)); + const auto pose = makePose( + 1.0, 2.0, 0.0, + math::geometry::convertEulerAngleToQuaternion( + geometry_msgs::build().x(0.0).y(0.0).z(30.0 * M_PI / 180.0))); + + const auto bounding_box = makeBbox(2.0, 2.0, 2.0); + const auto polygon = math::geometry::toPolygon2D(pose, bounding_box); + ASSERT_EQ(polygon.inners().size(), static_cast(0)); + ASSERT_EQ(polygon.outer().size(), static_cast(5)); + const double x = std::sqrt(2.0) * std::cos((30.0 + 45.0) * M_PI / 180.0); const double y = std::sqrt(2.0) * std::sin((30.0 + 45.0) * M_PI / 180.0); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[0], makePoint(x + 1.0, y + 2.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[1], makePoint(-y + 1.0, x + 2.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[2], makePoint(-x + 1.0, -y + 2.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[3], makePoint(y + 1.0, -x + 2.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(x + 1.0, y + 2.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[0], makePoint(x + 1.0, y + 2.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[1], makePoint(-y + 1.0, x + 2.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[2], makePoint(-x + 1.0, -y + 2.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[3], makePoint(y + 1.0, -x + 2.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[4], makePoint(x + 1.0, y + 2.0)); } TEST(BoundingBox, getPolygonDistanceWithCollision) From 31ac62c7269467bd7d06c433820cf82228f1f61a Mon Sep 17 00:00:00 2001 From: robomic Date: Wed, 7 Aug 2024 12:11:35 +0200 Subject: [PATCH 097/304] refactor test_helper.cpp file --- .../test/src/helper/test_helper.cpp | 142 ++++++++++++------ 1 file changed, 92 insertions(+), 50 deletions(-) diff --git a/simulation/traffic_simulator/test/src/helper/test_helper.cpp b/simulation/traffic_simulator/test/src/helper/test_helper.cpp index 06c2f02e24a..b2b352f5174 100644 --- a/simulation/traffic_simulator/test/src/helper/test_helper.cpp +++ b/simulation/traffic_simulator/test/src/helper/test_helper.cpp @@ -14,78 +14,103 @@ #include +#include #include #include #include #include "../expect_eq_macros.hpp" -TEST(HELPER, RPY) +/** + * @note Test basic functionality. Test construction correctness of an action status. + */ +TEST(helper, constructActionStatus) { - const auto rpy = traffic_simulator::helper::constructRPY(1, 2, 1); - geometry_msgs::msg::Vector3 vec; - vec.x = 1.0; - vec.y = 2.0; - vec.z = 1.0; - EXPECT_VECTOR3_EQ(rpy, vec); -} + traffic_simulator_msgs::msg::ActionStatus actual_action_status; + actual_action_status.twist.linear.x = 2.0; + actual_action_status.twist.angular.z = 3.0; + actual_action_status.accel.linear.x = 5.0; + actual_action_status.accel.angular.z = 7.0; -TEST(HELPER, QUATERNION) -{ - const auto rpy = - traffic_simulator::helper::constructRPYfromQuaternion(geometry_msgs::msg::Quaternion()); - EXPECT_VECTOR3_EQ(rpy, geometry_msgs::msg::Vector3()); + const auto result_action_status = + traffic_simulator::helper::constructActionStatus(2.0, 3.0, 5.0, 7.0); + + EXPECT_ACTION_STATUS_EQ(result_action_status, actual_action_status); } -TEST(HELPER, POSE) +/** + * @note Test basic functionality. Test construction correctness of a lanelet pose. + */ +TEST(helper, constructLaneletPose) { - const auto pose = traffic_simulator::helper::constructPose(1, 1, 1, 0, 0, 0); - geometry_msgs::msg::Pose expect_pose; - expect_pose.position.x = 1; - expect_pose.position.y = 1; - expect_pose.position.z = 1; - EXPECT_POSE_EQ(pose, expect_pose); + const auto actual_lanelet_pose = + traffic_simulator_msgs::build() + .lanelet_id(11LL) + .s(13.0) + .offset(17.0) + .rpy(geometry_msgs::build().x(19.0).y(23.0).z(29.0)); + + const auto result_lanelet_pose = + traffic_simulator::helper::constructLaneletPose(11LL, 13.0, 17.0, 19.0, 23.0, 29.0); + + std::stringstream ss; + ss << result_lanelet_pose; + EXPECT_LANELET_POSE_EQ(result_lanelet_pose, actual_lanelet_pose); + EXPECT_STREQ(ss.str().c_str(), "lanelet id : 11\ns : 13"); } -TEST(HELPER, LANELET_POSE) +/** + * @note Test basic functionality. Test construction correctness of RPY vector. + */ +TEST(helper, constructRPY) { - const auto lanelet_pose = traffic_simulator::helper::constructLaneletPose(5, 10, 2, 0, 0, 0); - traffic_simulator::LaneletPose expected_pose; - expected_pose.lanelet_id = 5; - expected_pose.s = 10.0; - expected_pose.offset = 2.0; - expected_pose.rpy.x = 0; - expected_pose.rpy.y = 0; - expected_pose.rpy.z = 0; - EXPECT_LANELET_POSE_EQ(lanelet_pose, expected_pose); - std::stringstream ss; - ss << lanelet_pose; - EXPECT_STREQ(ss.str().c_str(), "lanelet id : 5\ns : 10"); + const auto vec = geometry_msgs::build().x(31.0).y(37.0).z(41.0); + const auto rpy = traffic_simulator::helper::constructRPY(31.0, 37.0, 41.0); + EXPECT_VECTOR3_EQ(rpy, vec); } -TEST(HELPER, ACTION_STATUS) +/** + * @note Test basic functionality. Test construction correctness of a quaternion. + */ +TEST(helper, constructRPYfromQuaternion) { - const auto action_status = traffic_simulator::helper::constructActionStatus(3, 4, 5, 1); - traffic_simulator_msgs::msg::ActionStatus expect_action_status; - expect_action_status.twist.linear.x = 3; - expect_action_status.twist.angular.z = 4; - expect_action_status.accel.linear.x = 5; - expect_action_status.accel.angular.z = 1; - EXPECT_ACTION_STATUS_EQ(action_status, expect_action_status); + { + const auto default_vec = geometry_msgs::msg::Vector3(); + const auto default_rpy = + traffic_simulator::helper::constructRPYfromQuaternion(geometry_msgs::msg::Quaternion()); + EXPECT_VECTOR3_EQ(default_rpy, default_vec); + } + { + const auto vec = + geometry_msgs::build().x(-M_PI / 3.0).y(-M_PI / 6.0).z(M_PI / 2); + const auto rpy = traffic_simulator::helper::constructRPYfromQuaternion( + geometry_msgs::build().x(-0.183).y(-0.5).z(0.5).w(0.683)); + EXPECT_VECTOR3_NEAR(rpy, vec, 1.0e-3); + } } -TEST(HELPER, DETECTION_SENSOR_CONFIGURATION) +/** + * @note Test basic functionality. Test construction correctness of a pose. + */ +TEST(helper, constructPose) { - const auto configuration = - traffic_simulator::helper::constructDetectionSensorConfiguration("ego", "test", 3); - simulation_api_schema::DetectionSensorConfiguration expect_configuration; - expect_configuration.set_architecture_type("test"); - expect_configuration.set_entity("ego"); - expect_configuration.set_update_duration(3.0); - EXPECT_DETECTION_SENSOR_CONFIGURATION_EQ(configuration, expect_configuration); + const auto actual_pose = + geometry_msgs::build() + .position(geometry_msgs::build().x(43.0).y(47.0).z(53.0)) + .orientation( + geometry_msgs::build().x(-0.183).y(-0.5).z(0.5).w(0.683)); + + const auto result_pose = + traffic_simulator::helper::constructPose(43.0, 47.0, 53.0, -M_PI / 3.0, -M_PI / 6.0, M_PI / 2); + + EXPECT_POSE_NEAR(result_pose, actual_pose, 1.0e-3); } -TEST(HELPER, LIDAR_SENSOR_CONFIGURATION) +/** + * @note Test basic functionality. Test construction correctness of + * a lidar sensor with both VLP16 and VLP32 configurations. + */ +TEST(helper, constructLidarConfiguration) { EXPECT_NO_THROW(traffic_simulator::helper::constructLidarConfiguration( traffic_simulator::helper::LidarType::VLP16, "ego", "test")); @@ -93,6 +118,23 @@ TEST(HELPER, LIDAR_SENSOR_CONFIGURATION) traffic_simulator::helper::LidarType::VLP32, "ego", "test")); } +/** + * @note Test basic functionality. Test construction correctness of + * a detection sensor with a given configuration. + */ +TEST(helper, constructDetectionSensorConfiguration) +{ + simulation_api_schema::DetectionSensorConfiguration actual_configuration; + actual_configuration.set_architecture_type("test"); + actual_configuration.set_entity("ego"); + actual_configuration.set_update_duration(3.0); + + const auto result_configuration = + traffic_simulator::helper::constructDetectionSensorConfiguration("ego", "test", 3); + + EXPECT_DETECTION_SENSOR_CONFIGURATION_EQ(result_configuration, actual_configuration); +} + int main(int argc, char ** argv) { testing::InitGoogleTest(&argc, argv); From 0540c02cca68427e88d6d4e5fc751b50d33921e1 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 7 Aug 2024 19:19:52 +0900 Subject: [PATCH 098/304] refactor: use boost::math::constants::half_pi instead of 0.5 * boost::math::constants::pi --- .../src/syntax/relative_clearance_condition.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index e8ab07f7897..da665422b22 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -93,7 +93,7 @@ auto RelativeClearanceCondition::evaluate() -> Object target_entities.begin(), target_entities.end(), [&, is_back = (std::abs(evaluateRelativeHeading(triggering_entity)) > - 0.5 * boost::math::constants::pi())](const auto & entity) { + boost::math::constants::half_pi())](const auto & entity) { auto is_in_lateral_range = [&]() { // The lanes to be checked to left and right of the triggering entity (positive to the y-axis). If omitted: all lanes are checked. if (relative_lane_range.empty()) { From 33d9de56e9af713dcbb4b07e32eb761f0af3c0a3 Mon Sep 17 00:00:00 2001 From: robomic Date: Wed, 7 Aug 2024 12:29:21 +0200 Subject: [PATCH 099/304] test_simulation_clock.cpp refacton --- .../test/src/simulation_clock/test_simulation_clock.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/simulation/traffic_simulator/test/src/simulation_clock/test_simulation_clock.cpp b/simulation/traffic_simulator/test/src/simulation_clock/test_simulation_clock.cpp index 96e57887d90..9a88e0ab995 100644 --- a/simulation/traffic_simulator/test/src/simulation_clock/test_simulation_clock.cpp +++ b/simulation/traffic_simulator/test/src/simulation_clock/test_simulation_clock.cpp @@ -14,6 +14,7 @@ #include +#include #include /** @@ -21,7 +22,7 @@ * Test initialization logic by calling update without initialized clock * - the goal is to verify that mandatory initialization works. */ -TEST(SimulationClock, Initialize) +TEST(SimulationClock, SimulationClock) { auto simulation_clock = traffic_simulator::SimulationClock(true, 1.0, 10.0); @@ -31,7 +32,7 @@ TEST(SimulationClock, Initialize) EXPECT_TRUE(simulation_clock.started()); simulation_clock.update(); - EXPECT_THROW(simulation_clock.start(), std::runtime_error); + EXPECT_THROW(simulation_clock.start(), common::SimulationError); } /** From 885afa4e1eafa2c49cb31676a4cf706a12734062 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 7 Aug 2024 19:35:29 +0900 Subject: [PATCH 100/304] refactor: use std::find instead of std::find_if --- .../src/hdmap_utils/hdmap_utils.cpp | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp index 775dcf0af99..b44bd1f08de 100644 --- a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp +++ b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp @@ -229,20 +229,14 @@ auto HdMapUtils::countLaneChanges( const auto & current = route[i]; if (auto followings = getNextLaneletIds(previous); - std::find_if(followings.begin(), followings.end(), [¤t](const auto & lanelet) { - return lanelet == current; - }) == followings.end()) { + std::find(followings.begin(), followings.end(), current) == followings.end()) { traffic_simulator_msgs::msg::EntityType type; type.type = traffic_simulator_msgs::msg::EntityType::VEHICLE; if (auto lefts = getLeftLaneletIds(previous, type); - std::find_if(lefts.begin(), lefts.end(), [¤t](const auto & lanelet) { - return lanelet == current; - }) != lefts.end()) { + std::find(lefts.begin(), lefts.end(), current) != lefts.end()) { lane_changes.first++; } else if (auto rights = getRightLaneletIds(previous, type); - std::find_if(rights.begin(), rights.end(), [¤t](const auto & lanelet) { - return lanelet == current; - }) != rights.end()) { + std::find(rights.begin(), rights.end(), current) != rights.end()) { lane_changes.second++; } } From 4c6ee73641f13ae360585c67c7e9e08af0645642 Mon Sep 17 00:00:00 2001 From: robomic Date: Wed, 7 Aug 2024 12:55:09 +0200 Subject: [PATCH 101/304] remove ros nodes --- .../test/src/traffic_lights/test_traffic_light_manager.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp index fa6b3aad1ad..b584bfc48b9 100644 --- a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp +++ b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp @@ -20,7 +20,6 @@ TEST(TrafficLightManager, getIds) { - const auto node = std::make_shared("getIds"); std::string path = ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm"; geographic_msgs::msg::GeoPoint origin; @@ -37,7 +36,6 @@ TEST(TrafficLightManager, getIds) TEST(TrafficLightManager, setColor) { - const auto node = std::make_shared("setColor"); std::string path = ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm"; geographic_msgs::msg::GeoPoint origin; @@ -65,7 +63,6 @@ TEST(TrafficLightManager, setColor) TEST(TrafficLightManager, setArrow) { - const auto node = std::make_shared("setArrow"); std::string path = ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm"; geographic_msgs::msg::GeoPoint origin; @@ -93,6 +90,5 @@ TEST(TrafficLightManager, setArrow) int main(int argc, char ** argv) { testing::InitGoogleTest(&argc, argv); - rclcpp::init(argc, argv); return RUN_ALL_TESTS(); } From b6cf0e00d0c3ed22a1b31c6347406a6908d90729 Mon Sep 17 00:00:00 2001 From: robomic Date: Wed, 7 Aug 2024 15:39:02 +0200 Subject: [PATCH 102/304] test_traffic_lights_manager.cpp refactor --- .../test_traffic_light_manager.cpp | 76 ++++++++++--------- 1 file changed, 40 insertions(+), 36 deletions(-) diff --git a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp index b584bfc48b9..f5b58616f44 100644 --- a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp +++ b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp @@ -18,15 +18,33 @@ #include #include -TEST(TrafficLightManager, getIds) +class TrafficLightManagerTest : public testing::Test +{ +protected: + TrafficLightManagerTest() + : manager(std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.61836750154) + .longitude(139.78066608243) + .altitude(0.0))) + { + } + traffic_simulator::TrafficLightManager manager; +}; + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +/** + * @note Test basic functionality. Test obtaining traffic light functionality + * with a non-existant laneletId. A traffic light should be created. + */ +TEST_F(TrafficLightManagerTest, getTrafficLight) { - std::string path = - ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm"; - geographic_msgs::msg::GeoPoint origin; - origin.latitude = 35.61836750154; - origin.longitude = 139.78066608243; - const auto hdmap_utils_ptr = std::make_shared(path, origin); - traffic_simulator::TrafficLightManager manager(hdmap_utils_ptr); manager.getTrafficLight(34836); EXPECT_FALSE(manager.getTrafficLights().find(34836) == std::end(manager.getTrafficLights())); manager.getTrafficLight(34802); @@ -34,19 +52,15 @@ TEST(TrafficLightManager, getIds) EXPECT_EQ(manager.getTrafficLights().size(), static_cast(2)); } -TEST(TrafficLightManager, setColor) +/** + * @note Test basic functionality. Test adding a bulb to a specific traffic light with only a color specified. + */ +TEST_F(TrafficLightManagerTest, getTrafficLights_setColor) { - std::string path = - ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm"; - geographic_msgs::msg::GeoPoint origin; - origin.latitude = 35.61836750154; - origin.longitude = 139.78066608243; - const auto hdmap_utils_ptr = std::make_shared(path, origin); - traffic_simulator::TrafficLightManager manager(hdmap_utils_ptr); + using Color = traffic_simulator::TrafficLight::Color; + using Status = traffic_simulator::TrafficLight::Status; + using Shape = traffic_simulator::TrafficLight::Shape; for (const auto & [id, traffic_light] : manager.getTrafficLights()) { - using Color = traffic_simulator::TrafficLight::Color; - using Status = traffic_simulator::TrafficLight::Status; - using Shape = traffic_simulator::TrafficLight::Shape; manager.getTrafficLight(id).clear(); manager.getTrafficLight(id).emplace(Color::green); EXPECT_TRUE( @@ -61,19 +75,15 @@ TEST(TrafficLightManager, setColor) } } -TEST(TrafficLightManager, setArrow) +/** + * @note Test basic functionality. Test adding a bulb to a specific traffic light with all parameters specified. + */ +TEST_F(TrafficLightManagerTest, getTrafficLights_setArrow) { - std::string path = - ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm"; - geographic_msgs::msg::GeoPoint origin; - origin.latitude = 35.61836750154; - origin.longitude = 139.78066608243; - const auto hdmap_utils_ptr = std::make_shared(path, origin); - traffic_simulator::TrafficLightManager manager(hdmap_utils_ptr); + using Color = traffic_simulator::TrafficLight::Color; + using Status = traffic_simulator::TrafficLight::Status; + using Shape = traffic_simulator::TrafficLight::Shape; for (const auto & [id, traffic_light] : manager.getTrafficLights()) { - using Color = traffic_simulator::TrafficLight::Color; - using Status = traffic_simulator::TrafficLight::Status; - using Shape = traffic_simulator::TrafficLight::Shape; manager.getTrafficLight(id).clear(); manager.getTrafficLight(id).emplace(Color::green, Status::solid_on, Shape::left); EXPECT_TRUE(manager.getTrafficLight(id).contains(Color::green, Status::solid_on, Shape::left)); @@ -86,9 +96,3 @@ TEST(TrafficLightManager, setArrow) EXPECT_TRUE(manager.getTrafficLight(id).contains(Color::green, Status::solid_on, Shape::up)); } } - -int main(int argc, char ** argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} From b342574edb7aff8f224133b9f1f70f9a3ad00f4b Mon Sep 17 00:00:00 2001 From: robomic Date: Wed, 7 Aug 2024 16:42:37 +0200 Subject: [PATCH 103/304] test_traffic_light.cpp refactor, sort --- .../src/traffic_lights/test_traffic_light.cpp | 528 ++++++++++-------- 1 file changed, 280 insertions(+), 248 deletions(-) diff --git a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp index b77ec381cab..bf228bfcf71 100644 --- a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp +++ b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp @@ -26,7 +26,10 @@ int main(int argc, char ** argv) return RUN_ALL_TESTS(); } -TEST(TrafficLight, Color) +/** + * @note Test object creation correcness. + */ +TEST(Color, Color) { using Color = traffic_simulator::TrafficLight::Color; @@ -76,7 +79,71 @@ TEST(TrafficLight, Color) } } -TEST(TrafficLight, Status) +/** + * @note Test basic functionality. Test whether the function + * creates Color object appropriate to the argument. + */ +TEST(Color, make) +{ + using Color = traffic_simulator::TrafficLight::Color; + { + const auto color = Color::make("green"); + + EXPECT_TRUE(color == Color::green); + EXPECT_TRUE(color.is(Color::green)); + EXPECT_TRUE(boost::lexical_cast("green") == Color::green); + EXPECT_TRUE(boost::lexical_cast(color) == "green"); + } + + { + const auto color = Color::make("yellow"); + + EXPECT_TRUE(color == Color::yellow); + EXPECT_TRUE(color.is(Color::yellow)); + EXPECT_TRUE(boost::lexical_cast("yellow") == Color::yellow); + EXPECT_TRUE(boost::lexical_cast(color) == "yellow"); + } + + { + const auto color = Color::make("red"); + + EXPECT_TRUE(color == Color::red); + EXPECT_TRUE(color.is(Color::red)); + EXPECT_TRUE(boost::lexical_cast("red") == Color::red); + EXPECT_TRUE(boost::lexical_cast(color) == "red"); + } + + { + const auto color = Color::make("white"); + + EXPECT_TRUE(color == Color::white); + EXPECT_TRUE(color.is(Color::white)); + EXPECT_TRUE(boost::lexical_cast("white") == Color::white); + EXPECT_TRUE(boost::lexical_cast(color) == "white"); + } + + { + const auto color = Color::make("amber"); + + EXPECT_TRUE(color == Color::yellow); + EXPECT_TRUE(color.is(Color::yellow)); + EXPECT_TRUE(boost::lexical_cast("amber") == Color::yellow); + EXPECT_TRUE(boost::lexical_cast(color) == "yellow"); + } +} + +/** + * @note Test basic functionality. Test function behavior when called with invalid name. + */ +TEST(Color, make_wrong) +{ + EXPECT_THROW(traffic_simulator::TrafficLight::Color::make("wrong_color"), common::SyntaxError); +} + +/** + * @note Test object creation correcness. + */ +TEST(Status, Status) { using Status = traffic_simulator::TrafficLight::Status; @@ -117,7 +184,62 @@ TEST(TrafficLight, Status) } } -TEST(TrafficLight, Shape) +/** + * @note Test basic functionality. Test whether the function creates Status object appropriate to the argument. + */ +TEST(Status, make) +{ + using Status = traffic_simulator::TrafficLight::Status; + + { + const auto status = Status::make("solidOn"); + + EXPECT_TRUE(status == Status::solid_on); + EXPECT_TRUE(status.is(Status::solid_on)); + EXPECT_TRUE(boost::lexical_cast("solidOn") == Status::solid_on); + EXPECT_TRUE(boost::lexical_cast(status) == "solidOn"); + } + + { + const auto status = Status::make("solidOff"); + + EXPECT_TRUE(status == Status::solid_off); + EXPECT_TRUE(status.is(Status::solid_off)); + EXPECT_TRUE(boost::lexical_cast("solidOff") == Status::solid_off); + EXPECT_TRUE(boost::lexical_cast(status) == "solidOff"); + } + + { + const auto status = Status::make("flashing"); + + EXPECT_TRUE(status == Status::flashing); + EXPECT_TRUE(status.is(Status::flashing)); + EXPECT_TRUE(boost::lexical_cast("flashing") == Status::flashing); + EXPECT_TRUE(boost::lexical_cast(status) == "flashing"); + } + + { + const auto status = Status::make("unknown"); + + EXPECT_TRUE(status == Status::unknown); + EXPECT_TRUE(status.is(Status::unknown)); + EXPECT_TRUE(boost::lexical_cast("unknown") == Status::unknown); + EXPECT_TRUE(boost::lexical_cast(status) == "unknown"); + } +} + +/** + * @note Test basic functionality. Test function behavior when called with invalid name. + */ +TEST(Status, make_wrong) +{ + EXPECT_THROW(traffic_simulator::TrafficLight::Status::make("wrong_status"), common::SyntaxError); +} + +/** + * @note Test object creation correcness. + */ +TEST(Shape, Shape) { using Shape = traffic_simulator::TrafficLight::Shape; @@ -232,204 +354,10 @@ TEST(TrafficLight, Shape) } } -TEST(TrafficLight, Bulb) -{ - using TrafficLight = traffic_simulator::TrafficLight; - using Color = TrafficLight::Color; - using Status = TrafficLight::Status; - using Shape = TrafficLight::Shape; - using Bulb = TrafficLight::Bulb; - - // clang-format off - static_assert(Bulb(Color::green, Status::solid_on, Shape::circle ).hash() == 0b0000'0000'0000'0000'0000'0000'0000'0000); - static_assert(Bulb(Color::yellow, Status::solid_on, Shape::circle ).hash() == 0b0000'0001'0000'0000'0000'0000'0000'0000); - static_assert(Bulb(Color::red, Status::solid_on, Shape::circle ).hash() == 0b0000'0010'0000'0000'0000'0000'0000'0000); - static_assert(Bulb(Color::white, Status::solid_on, Shape::circle ).hash() == 0b0000'0011'0000'0000'0000'0000'0000'0000); - - static_assert(Bulb(Color::green, Status::solid_on, Shape::circle ).hash() == 0b0000'0000'0000'0000'0000'0000'0000'0000); - static_assert(Bulb(Color::green, Status::solid_off, Shape::circle ).hash() == 0b0000'0000'0000'0001'0000'0000'0000'0000); - static_assert(Bulb(Color::green, Status::flashing, Shape::circle ).hash() == 0b0000'0000'0000'0010'0000'0000'0000'0000); - static_assert(Bulb(Color::green, Status::unknown, Shape::circle ).hash() == 0b0000'0000'0000'0011'0000'0000'0000'0000); - - static_assert(Bulb(Color::green, Status::solid_on, Shape::circle ).hash() == 0b0000'0000'0000'0000'0000'0000'0000'0000); - static_assert(Bulb(Color::green, Status::solid_on, Shape::cross ).hash() == 0b0000'0000'0000'0000'0000'0000'0000'0001); - static_assert(Bulb(Color::green, Status::solid_on, Shape::left ).hash() == 0b0000'0000'0000'0000'0000'1000'0000'0010); - static_assert(Bulb(Color::green, Status::solid_on, Shape::down ).hash() == 0b0000'0000'0000'0000'0000'0100'0000'0010); - static_assert(Bulb(Color::green, Status::solid_on, Shape::up ).hash() == 0b0000'0000'0000'0000'0000'0010'0000'0010); - static_assert(Bulb(Color::green, Status::solid_on, Shape::right ).hash() == 0b0000'0000'0000'0000'0000'0001'0000'0010); - static_assert(Bulb(Color::green, Status::solid_on, Shape::lower_left ).hash() == 0b0000'0000'0000'0000'0000'1100'0000'0010); - static_assert(Bulb(Color::green, Status::solid_on, Shape::upper_left ).hash() == 0b0000'0000'0000'0000'0000'1010'0000'0010); - static_assert(Bulb(Color::green, Status::solid_on, Shape::lower_right).hash() == 0b0000'0000'0000'0000'0000'0101'0000'0010); - static_assert(Bulb(Color::green, Status::solid_on, Shape::upper_right).hash() == 0b0000'0000'0000'0000'0000'0011'0000'0010); - // clang-format on - - { - constexpr auto bulb = Bulb(Color::red, Status::flashing, Shape::circle); - - EXPECT_TRUE(bulb.is(Color::red)); - EXPECT_TRUE(bulb.is(Status::flashing)); - EXPECT_TRUE(bulb.is(Shape::circle)); - EXPECT_TRUE(bulb.is(Shape::Category::circle)); - } - - { - constexpr auto bulb = Bulb(Color::green, Status::solid_on, Shape::right); - - EXPECT_TRUE(bulb.is(Color::green)); - EXPECT_TRUE(bulb.is(Status::solid_on)); - EXPECT_TRUE(bulb.is(Shape::right)); - EXPECT_TRUE(bulb.is(Shape::Category::arrow)); - } - - { - const auto bulb = Bulb("red flashing circle"); - - EXPECT_TRUE(bulb.is(Color::red)); - EXPECT_TRUE(bulb.is(Status::flashing)); - EXPECT_TRUE(bulb.is(Shape::circle)); - EXPECT_TRUE(bulb.is(Shape::Category::circle)); - } - - { - const auto bulb = Bulb("red flashing"); - - EXPECT_TRUE(bulb.is(Color::red)); - EXPECT_TRUE(bulb.is(Status::flashing)); - EXPECT_TRUE(bulb.is(Shape::circle)); - EXPECT_TRUE(bulb.is(Shape::Category::circle)); - } - - { - const auto bulb = Bulb("red"); - - EXPECT_TRUE(bulb.is(Color::red)); - EXPECT_TRUE(bulb.is(Status::solid_on)); - EXPECT_TRUE(bulb.is(Shape::circle)); - EXPECT_TRUE(bulb.is(Shape::Category::circle)); - } - - { - const auto bulb = Bulb("green solidOn right"); - - EXPECT_TRUE(bulb.is(Color::green)); - EXPECT_TRUE(bulb.is(Status::solid_on)); - EXPECT_TRUE(bulb.is(Shape::right)); - EXPECT_TRUE(bulb.is(Shape::Category::arrow)); - } - - { - const auto bulb = Bulb("green right"); - - EXPECT_TRUE(bulb.is(Color::green)); - EXPECT_TRUE(bulb.is(Status::solid_on)); - EXPECT_TRUE(bulb.is(Shape::right)); - EXPECT_TRUE(bulb.is(Shape::Category::arrow)); - } -} - -TEST(TrafficLight, TrafficLight) -{ - using TrafficLight = traffic_simulator::TrafficLight; - using Color = TrafficLight::Color; - using Status = TrafficLight::Status; - using Shape = TrafficLight::Shape; - - hdmap_utils::HdMapUtils map_manager( - ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", - []() { - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.61836750154; - geo_point.longitude = 139.78066608243; - return geo_point; - }()); - - { - auto traffic_light = TrafficLight(34802, map_manager); - - traffic_light.emplace(Color::red, Status::flashing, Shape::circle); - traffic_light.emplace(Color::green, Status::solid_on, Shape::right); - - EXPECT_TRUE(traffic_light.contains(Color::red, Status::flashing, Shape::circle)); - EXPECT_TRUE(traffic_light.contains(Color::green, Status::solid_on, Shape::right)); - } - - { - auto traffic_light = TrafficLight(34802, map_manager); - - traffic_light.emplace("red flashing circle"); - traffic_light.emplace("green solidOn right"); - - EXPECT_TRUE(traffic_light.contains(Color::red, Status::flashing, Shape::circle)); - EXPECT_TRUE(traffic_light.contains(Color::green, Status::solid_on, Shape::right)); - } - - { - auto traffic_light = TrafficLight(34802, map_manager); - - traffic_light.set("red flashing circle, green solidOn right"); - - EXPECT_TRUE(traffic_light.contains(Color::red, Status::flashing, Shape::circle)); - EXPECT_TRUE(traffic_light.contains(Color::green, Status::solid_on, Shape::right)); - } -} - -/** - * @note Test basic functionality. Test whether the function - * creates Color object appropriate to the argument. - */ -TEST(TrafficLight, Color_make) -{ - using Color = traffic_simulator::TrafficLight::Color; - { - const auto color = Color::make("green"); - - EXPECT_TRUE(color == Color::green); - EXPECT_TRUE(color.is(Color::green)); - EXPECT_TRUE(boost::lexical_cast("green") == Color::green); - EXPECT_TRUE(boost::lexical_cast(color) == "green"); - } - - { - const auto color = Color::make("yellow"); - - EXPECT_TRUE(color == Color::yellow); - EXPECT_TRUE(color.is(Color::yellow)); - EXPECT_TRUE(boost::lexical_cast("yellow") == Color::yellow); - EXPECT_TRUE(boost::lexical_cast(color) == "yellow"); - } - - { - const auto color = Color::make("red"); - - EXPECT_TRUE(color == Color::red); - EXPECT_TRUE(color.is(Color::red)); - EXPECT_TRUE(boost::lexical_cast("red") == Color::red); - EXPECT_TRUE(boost::lexical_cast(color) == "red"); - } - - { - const auto color = Color::make("white"); - - EXPECT_TRUE(color == Color::white); - EXPECT_TRUE(color.is(Color::white)); - EXPECT_TRUE(boost::lexical_cast("white") == Color::white); - EXPECT_TRUE(boost::lexical_cast(color) == "white"); - } - - { - const auto color = Color::make("amber"); - - EXPECT_TRUE(color == Color::yellow); - EXPECT_TRUE(color.is(Color::yellow)); - EXPECT_TRUE(boost::lexical_cast("amber") == Color::yellow); - EXPECT_TRUE(boost::lexical_cast(color) == "yellow"); - } -} - /** - * @note Test basic functionality. Test whether the function creates Color object appropriate to the argument. + * @note Test basic functionality. Test whether the function creates Shape object appropriate to the argument. */ -TEST(TrafficLight, Shape_make) +TEST(Shape, make) { using Shape = traffic_simulator::TrafficLight::Shape; @@ -545,53 +473,115 @@ TEST(TrafficLight, Shape_make) } /** - * @note Test basic functionality. Test whether the function creates Status object appropriate to the argument. + * @note Test basic functionality. Test function behavior when called with invalid name. */ -TEST(TrafficLight, Status_make) +TEST(Shape, make_wrong) { - using Status = traffic_simulator::TrafficLight::Status; + EXPECT_THROW(traffic_simulator::TrafficLight::Shape::make("wrong_shape"), common::SyntaxError); +} + +/** + * @note Test object creation correcness. + */ +TEST(Bulb, Bulb) +{ + using TrafficLight = traffic_simulator::TrafficLight; + using Color = TrafficLight::Color; + using Status = TrafficLight::Status; + using Shape = TrafficLight::Shape; + using Bulb = TrafficLight::Bulb; + + // clang-format off + static_assert(Bulb(Color::green, Status::solid_on, Shape::circle ).hash() == 0b0000'0000'0000'0000'0000'0000'0000'0000); + static_assert(Bulb(Color::yellow, Status::solid_on, Shape::circle ).hash() == 0b0000'0001'0000'0000'0000'0000'0000'0000); + static_assert(Bulb(Color::red, Status::solid_on, Shape::circle ).hash() == 0b0000'0010'0000'0000'0000'0000'0000'0000); + static_assert(Bulb(Color::white, Status::solid_on, Shape::circle ).hash() == 0b0000'0011'0000'0000'0000'0000'0000'0000); + + static_assert(Bulb(Color::green, Status::solid_on, Shape::circle ).hash() == 0b0000'0000'0000'0000'0000'0000'0000'0000); + static_assert(Bulb(Color::green, Status::solid_off, Shape::circle ).hash() == 0b0000'0000'0000'0001'0000'0000'0000'0000); + static_assert(Bulb(Color::green, Status::flashing, Shape::circle ).hash() == 0b0000'0000'0000'0010'0000'0000'0000'0000); + static_assert(Bulb(Color::green, Status::unknown, Shape::circle ).hash() == 0b0000'0000'0000'0011'0000'0000'0000'0000); + + static_assert(Bulb(Color::green, Status::solid_on, Shape::circle ).hash() == 0b0000'0000'0000'0000'0000'0000'0000'0000); + static_assert(Bulb(Color::green, Status::solid_on, Shape::cross ).hash() == 0b0000'0000'0000'0000'0000'0000'0000'0001); + static_assert(Bulb(Color::green, Status::solid_on, Shape::left ).hash() == 0b0000'0000'0000'0000'0000'1000'0000'0010); + static_assert(Bulb(Color::green, Status::solid_on, Shape::down ).hash() == 0b0000'0000'0000'0000'0000'0100'0000'0010); + static_assert(Bulb(Color::green, Status::solid_on, Shape::up ).hash() == 0b0000'0000'0000'0000'0000'0010'0000'0010); + static_assert(Bulb(Color::green, Status::solid_on, Shape::right ).hash() == 0b0000'0000'0000'0000'0000'0001'0000'0010); + static_assert(Bulb(Color::green, Status::solid_on, Shape::lower_left ).hash() == 0b0000'0000'0000'0000'0000'1100'0000'0010); + static_assert(Bulb(Color::green, Status::solid_on, Shape::upper_left ).hash() == 0b0000'0000'0000'0000'0000'1010'0000'0010); + static_assert(Bulb(Color::green, Status::solid_on, Shape::lower_right).hash() == 0b0000'0000'0000'0000'0000'0101'0000'0010); + static_assert(Bulb(Color::green, Status::solid_on, Shape::upper_right).hash() == 0b0000'0000'0000'0000'0000'0011'0000'0010); + // clang-format on { - const auto status = Status::make("solidOn"); + constexpr auto bulb = Bulb(Color::red, Status::flashing, Shape::circle); - EXPECT_TRUE(status == Status::solid_on); - EXPECT_TRUE(status.is(Status::solid_on)); - EXPECT_TRUE(boost::lexical_cast("solidOn") == Status::solid_on); - EXPECT_TRUE(boost::lexical_cast(status) == "solidOn"); + EXPECT_TRUE(bulb.is(Color::red)); + EXPECT_TRUE(bulb.is(Status::flashing)); + EXPECT_TRUE(bulb.is(Shape::circle)); + EXPECT_TRUE(bulb.is(Shape::Category::circle)); } { - const auto status = Status::make("solidOff"); + constexpr auto bulb = Bulb(Color::green, Status::solid_on, Shape::right); - EXPECT_TRUE(status == Status::solid_off); - EXPECT_TRUE(status.is(Status::solid_off)); - EXPECT_TRUE(boost::lexical_cast("solidOff") == Status::solid_off); - EXPECT_TRUE(boost::lexical_cast(status) == "solidOff"); + EXPECT_TRUE(bulb.is(Color::green)); + EXPECT_TRUE(bulb.is(Status::solid_on)); + EXPECT_TRUE(bulb.is(Shape::right)); + EXPECT_TRUE(bulb.is(Shape::Category::arrow)); } { - const auto status = Status::make("flashing"); + const auto bulb = Bulb("red flashing circle"); - EXPECT_TRUE(status == Status::flashing); - EXPECT_TRUE(status.is(Status::flashing)); - EXPECT_TRUE(boost::lexical_cast("flashing") == Status::flashing); - EXPECT_TRUE(boost::lexical_cast(status) == "flashing"); + EXPECT_TRUE(bulb.is(Color::red)); + EXPECT_TRUE(bulb.is(Status::flashing)); + EXPECT_TRUE(bulb.is(Shape::circle)); + EXPECT_TRUE(bulb.is(Shape::Category::circle)); } { - const auto status = Status::make("unknown"); + const auto bulb = Bulb("red flashing"); - EXPECT_TRUE(status == Status::unknown); - EXPECT_TRUE(status.is(Status::unknown)); - EXPECT_TRUE(boost::lexical_cast("unknown") == Status::unknown); - EXPECT_TRUE(boost::lexical_cast(status) == "unknown"); + EXPECT_TRUE(bulb.is(Color::red)); + EXPECT_TRUE(bulb.is(Status::flashing)); + EXPECT_TRUE(bulb.is(Shape::circle)); + EXPECT_TRUE(bulb.is(Shape::Category::circle)); + } + + { + const auto bulb = Bulb("red"); + + EXPECT_TRUE(bulb.is(Color::red)); + EXPECT_TRUE(bulb.is(Status::solid_on)); + EXPECT_TRUE(bulb.is(Shape::circle)); + EXPECT_TRUE(bulb.is(Shape::Category::circle)); + } + + { + const auto bulb = Bulb("green solidOn right"); + + EXPECT_TRUE(bulb.is(Color::green)); + EXPECT_TRUE(bulb.is(Status::solid_on)); + EXPECT_TRUE(bulb.is(Shape::right)); + EXPECT_TRUE(bulb.is(Shape::Category::arrow)); + } + + { + const auto bulb = Bulb("green right"); + + EXPECT_TRUE(bulb.is(Color::green)); + EXPECT_TRUE(bulb.is(Status::solid_on)); + EXPECT_TRUE(bulb.is(Shape::right)); + EXPECT_TRUE(bulb.is(Shape::Category::arrow)); } } /** - * @note Test basic functionality. Test whether the function creates Color object appropriate to the argument. + * @note Test basic functionality. Test whether the function creates Bulb object appropriate to the argument. */ -TEST(TrafficLight, Bulb_make) +TEST(Bulb, make) { using TrafficLight = traffic_simulator::TrafficLight; using Color = TrafficLight::Color; @@ -662,11 +652,24 @@ TEST(TrafficLight, Bulb_make) } } +/** + * @note Test basic functionality. Test function behavior when called with invalid name. + */ +TEST(Bulb, make_wrong) +{ + using Bulb = traffic_simulator::TrafficLight::Bulb; + + EXPECT_THROW(Bulb("red flashing wrong_shape"), common::SyntaxError); + EXPECT_THROW(Bulb("red wrong_status circle"), common::SyntaxError); + EXPECT_THROW(Bulb("wrong_color flashing circle"), common::SyntaxError); + EXPECT_THROW(Bulb("wrong_color wrong_status wrong_shape"), common::SyntaxError); +} + /** * @note Test basic functionality. Test whether the TrafficLight message * is constructed configured according to the Bulb object. */ -TEST(TrafficLight, Bulb_trafficLightMessageConversion) +TEST(Bulb, operator_TrafficLight) { using Color = traffic_simulator::TrafficLight::Color; using Status = traffic_simulator::TrafficLight::Status; @@ -723,39 +726,68 @@ TEST(TrafficLight, Bulb_trafficLightMessageConversion) } } -/** - * @note Test basic functionality. Test function behavior when called with invalid name. - */ -TEST(TrafficLight, Color_make_wrong) +class TrafficLightTest : public testing::Test { - EXPECT_THROW(traffic_simulator::TrafficLight::Color::make("wrong_color"), common::SyntaxError); -} +protected: + TrafficLightTest() + : map_manager( + ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.61836750154) + .longitude(139.78066608243) + .altitude(0.0)) + { + } + hdmap_utils::HdMapUtils map_manager; +}; /** - * @note Test basic functionality. Test function behavior when called with invalid name. + * @note test if function correctly determines if a given bulb + * is in the bulbs vector given a Color, Status, Shape triple. */ -TEST(TrafficLight, Shape_make_wrong) +TEST_F(TrafficLightTest, contains_colorStatusShape) { - EXPECT_THROW(traffic_simulator::TrafficLight::Shape::make("wrong_shape"), common::SyntaxError); -} + using TrafficLight = traffic_simulator::TrafficLight; + using Color = TrafficLight::Color; + using Status = TrafficLight::Status; + using Shape = TrafficLight::Shape; -/** - * @note Test basic functionality. Test function behavior when called with invalid name. - */ -TEST(TrafficLight, Status_make_wrong) -{ - EXPECT_THROW(traffic_simulator::TrafficLight::Status::make("wrong_status"), common::SyntaxError); + { + auto traffic_light = TrafficLight(34802, map_manager); + + traffic_light.bulbs.emplace(Color::red, Status::flashing, Shape::circle); + traffic_light.bulbs.emplace(Color::green, Status::solid_on, Shape::right); + + ASSERT_TRUE(traffic_light.bulbs.size() == static_cast(2)); + EXPECT_TRUE(traffic_light.contains(Color::red, Status::flashing, Shape::circle)); + EXPECT_TRUE(traffic_light.contains(Color::green, Status::solid_on, Shape::right)); + } + + { + auto traffic_light = TrafficLight(34802, map_manager); + + traffic_light.bulbs.emplace("red flashing circle"); + traffic_light.bulbs.emplace("green solidOn right"); + + EXPECT_TRUE(traffic_light.contains(Color::red, Status::flashing, Shape::circle)); + EXPECT_TRUE(traffic_light.contains(Color::green, Status::solid_on, Shape::right)); + } } /** - * @note Test basic functionality. Test function behavior when called with invalid name. + * @note Test function behavior with a valid string. */ -TEST(TrafficLight, Bulb_make_wrong) +TEST_F(TrafficLightTest, set_valid) { - using Bulb = traffic_simulator::TrafficLight::Bulb; + using TrafficLight = traffic_simulator::TrafficLight; + using Color = TrafficLight::Color; + using Status = TrafficLight::Status; + using Shape = TrafficLight::Shape; - EXPECT_THROW(Bulb("red flashing wrong_shape"), common::SyntaxError); - EXPECT_THROW(Bulb("red wrong_status circle"), common::SyntaxError); - EXPECT_THROW(Bulb("wrong_color flashing circle"), common::SyntaxError); - EXPECT_THROW(Bulb("wrong_color wrong_status wrong_shape"), common::SyntaxError); + auto traffic_light = TrafficLight(34802, map_manager); + + traffic_light.set("red flashing circle, green solidOn right"); + + EXPECT_TRUE(traffic_light.contains(Color::red, Status::flashing, Shape::circle)); + EXPECT_TRUE(traffic_light.contains(Color::green, Status::solid_on, Shape::right)); } From 565a8ed86aff2fb493e50f80833ec742db41b643 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Thu, 8 Aug 2024 14:09:29 +0900 Subject: [PATCH 104/304] Change QoS of `/api/localization/initialization_state` to transient local Signed-off-by: yamacir-kit --- ...rator_application_for_autoware_universe.hpp | 18 +++++++++--------- .../include/concealer/subscriber_wrapper.hpp | 6 ++++-- external/concealer/src/autoware_universe.cpp | 9 +++++---- 3 files changed, 18 insertions(+), 15 deletions(-) diff --git a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp index e9d14665928..0202d488eb3 100644 --- a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp +++ b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp @@ -114,17 +114,17 @@ class FieldOperatorApplicationFor CONCEALER_PUBLIC explicit FieldOperatorApplicationFor(Ts &&... xs) : FieldOperatorApplication(std::forward(xs)...), // clang-format off - getAckermannControlCommand("/control/command/control_cmd", *this), - getAutowareState("/api/iv_msgs/autoware/state", *this), - getCooperateStatusArray("/api/external/get/rtc_status", *this, [this](const auto & v) { latest_cooperate_status_array = v; }), - getEmergencyState("/api/external/get/emergency", *this, [this](const auto & v) { receiveEmergencyState(v); }), + getAckermannControlCommand("/control/command/control_cmd", rclcpp::QoS(1), *this), + getAutowareState("/api/iv_msgs/autoware/state", rclcpp::QoS(1), *this), + getCooperateStatusArray("/api/external/get/rtc_status", rclcpp::QoS(1), *this, [this](const auto & v) { latest_cooperate_status_array = v; }), + getEmergencyState("/api/external/get/emergency", rclcpp::QoS(1), *this, [this](const auto & v) { receiveEmergencyState(v); }), #if __has_include() - getLocalizationState("/api/localization/initialization_state", *this), + getLocalizationState("/api/localization/initialization_state", rclcpp::QoS(1).transient_local(), *this), #endif - getMrmState("/api/fail_safe/mrm_state", *this, [this](const auto & v) { receiveMrmState(v); }), - getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", *this), - getTrajectory("/api/iv_msgs/planning/scenario_planning/trajectory", *this), - getTurnIndicatorsCommandImpl("/control/command/turn_indicators_cmd", *this), + getMrmState("/api/fail_safe/mrm_state", rclcpp::QoS(1), *this, [this](const auto & v) { receiveMrmState(v); }), + getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), *this), + getTrajectory("/api/iv_msgs/planning/scenario_planning/trajectory", rclcpp::QoS(1), *this), + getTurnIndicatorsCommandImpl("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this), requestClearRoute("/api/routing/clear_route", *this), requestCooperateCommands("/api/external/set/rtc_commands", *this), requestEngage("/api/external/set/engage", *this), diff --git a/external/concealer/include/concealer/subscriber_wrapper.hpp b/external/concealer/include/concealer/subscriber_wrapper.hpp index e8869fb86ce..8247a872e3a 100644 --- a/external/concealer/include/concealer/subscriber_wrapper.hpp +++ b/external/concealer/include/concealer/subscriber_wrapper.hpp @@ -41,10 +41,12 @@ class SubscriberWrapper template SubscriberWrapper( - const std::string & topic, NodeInterface & autoware_interface, + const std::string & topic, const rclcpp::QoS & quality_of_service, + NodeInterface & autoware_interface, const std::function & callback = {}) : subscription(autoware_interface.template create_subscription( - topic, 1, [this, callback](const typename MessageType::ConstSharedPtr message) { + topic, quality_of_service, + [this, callback](const typename MessageType::ConstSharedPtr message) { if constexpr (thread_safety == ThreadSafety::safe) { std::atomic_store(¤t_value, message); if (current_value and callback) { diff --git a/external/concealer/src/autoware_universe.cpp b/external/concealer/src/autoware_universe.cpp index 6016eb0d322..dbecc8b51d9 100644 --- a/external/concealer/src/autoware_universe.cpp +++ b/external/concealer/src/autoware_universe.cpp @@ -17,11 +17,12 @@ namespace concealer { AutowareUniverse::AutowareUniverse() -: getAckermannControlCommand("/control/command/control_cmd", *this), - getGearCommandImpl("/control/command/gear_cmd", *this), - getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", *this), +: getAckermannControlCommand("/control/command/control_cmd", rclcpp::QoS(1), *this), + getGearCommandImpl("/control/command/gear_cmd", rclcpp::QoS(1), *this), + getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this), getPathWithLaneId( - "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", *this), + "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), + *this), setAcceleration("/localization/acceleration", *this), setOdometry("/localization/kinematic_state", *this), setSteeringReport("/vehicle/status/steering_status", *this), From 35ad312cb92ec2bc7dd816b9fa570bc984441ad3 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 8 Aug 2024 15:52:27 +0900 Subject: [PATCH 105/304] feat: support EntitySelection in RelativeClearanceCondition --- .../syntax/relative_clearance_condition.hpp | 2 +- .../syntax/relative_clearance_condition.cpp | 154 +++++++++++------- 2 files changed, 99 insertions(+), 57 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp index 970650516e4..2348a6436be 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp @@ -72,7 +72,7 @@ struct RelativeClearanceCondition : private Scope, /* Constraint to check only specific entities. If it is not used then all entities are considered. */ - const std::list entity_refs; + const std::list entity_refs; const TriggeringEntities triggering_entities; diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index da665422b22..be7be2c1c5e 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -16,7 +16,9 @@ #include #include #include +#include #include +#include #include #include @@ -32,7 +34,7 @@ RelativeClearanceCondition::RelativeClearanceCondition( free_space(readAttribute("freeSpace", node, scope)), opposite_lanes(readAttribute("oppositeLanes", node, scope)), relative_lane_range(readElements("RelativeLaneRange", node, scope)), - entity_refs(readElements("EntityRef", node, scope)), + entity_refs(readElements("EntityRef", node, scope)), triggering_entities(triggering_entities) { } @@ -70,69 +72,109 @@ auto RelativeClearanceCondition::description() const -> String auto RelativeClearanceCondition::evaluate() -> Object { - auto target_entities = [&]() { - if (not entity_refs.empty()) { - return entity_refs; - } else { - std::list entities; - for (const auto & entity : *global().entities) { - if ( - std::find_if( - triggering_entities.entity_refs.begin(), triggering_entities.entity_refs.end(), - [&](const auto & triggering_entity) { - return triggering_entity.name() == entity.first; - }) == triggering_entities.entity_refs.end()) { - entities.emplace_back(entity.first); + auto is_relative_clearance_exist = [&]( + const auto & triggering_entity, const auto & target_entity) { + auto is_back = + (std::abs(evaluateRelativeHeading(triggering_entity)) > + boost::math::constants::half_pi()); + auto is_in_lateral_range = [&]() { + // The lanes to be checked to left and right of the triggering entity (positive to the y-axis). If omitted: all lanes are checked. + if (relative_lane_range.empty()) { + return true; + } else { + if (auto relative_lateral_lane = evaluateLateralRelativeLanes( + triggering_entity, target_entity, RoutingAlgorithm::shortest); + relative_lateral_lane.has_value()) { + if (is_back) { + relative_lateral_lane.value() = -relative_lateral_lane.value(); + } + return std::any_of( + relative_lane_range.begin(), relative_lane_range.end(), [&](const auto & range) { + return range.from <= relative_lateral_lane.value() && + range.to >= relative_lateral_lane.value(); + }); + } else { + throw common::Error("Relative lateral lane is not available"); } } - return entities; - } - }(); - return asBoolean(triggering_entities.apply([&](const auto & triggering_entity) { - return std::all_of( - target_entities.begin(), target_entities.end(), - [&, is_back = - (std::abs(evaluateRelativeHeading(triggering_entity)) > - boost::math::constants::half_pi())](const auto & entity) { - auto is_in_lateral_range = [&]() { - // The lanes to be checked to left and right of the triggering entity (positive to the y-axis). If omitted: all lanes are checked. - if (relative_lane_range.empty()) { + }; + + auto is_in_longitudinal_range = [&]() { + auto relative_longitudinal = + getRelativeLanePosition(triggering_entity, target_entity, free_space).s; + if (is_back) { + relative_longitudinal = -relative_longitudinal; + } + if (relative_longitudinal < 0) { + return std::abs(relative_longitudinal) <= distance_backward; + } else { + return relative_longitudinal <= distance_forward; + } + }; + + auto lat_ok = is_in_lateral_range(); + auto lon_ok = is_in_longitudinal_range(); + return not(lat_ok && lon_ok); + }; + + return asBoolean(triggering_entities.apply([&](const auto & triggering_scenario_object) { + assert(triggering_scenario_object.is()); + if (not entity_refs.empty()) { + return std::all_of( + entity_refs.begin(), entity_refs.end(), [&](const auto & target_entity_ref) { + const auto & target_entity = global().entities->ref(target_entity_ref); + if (target_entity.template is()) { + return is_relative_clearance_exist( + triggering_scenario_object, target_entity.template as().name); + ; + } else if (target_entity.template is()) { // + auto target_scenario_objects = target_entity.template as().objects(); + return std::all_of( + target_scenario_objects.begin(), target_scenario_objects.end(), + [&](const auto & target_scenario_object) { + return is_relative_clearance_exist( + triggering_scenario_object, target_scenario_object.name()); + }); + } else { + throw common::Error( + "Unexpected entity interface is detected. RelativeClearanceCondition expects " + "ScenarioObject or EntitySelection."); + } + }); + } else { + return std::all_of( + global().entities->begin(), global().entities->end(), + [&](const auto & target_candidate_entity) { + if (not target_candidate_entity.second.template is()) { return true; } else { - if (auto relative_lateral_lane = evaluateLateralRelativeLanes( - triggering_entity, entity, RoutingAlgorithm::shortest); - relative_lateral_lane.has_value()) { - if (is_back) { - relative_lateral_lane.value() = -relative_lateral_lane.value(); - } - return std::any_of( - relative_lane_range.begin(), relative_lane_range.end(), [&](const auto & range) { - return range.from <= relative_lateral_lane.value() && - range.to >= relative_lateral_lane.value(); + const ScenarioObject & target_candidate_scenario_object = + target_candidate_entity.second.template as(); + // exclude entities included in TriggeringEntities + auto is_target_candidate_scenario_object_in_triggering_entities = + [&](const ScenarioObject & target_candidate) -> bool { + bool is_included = false; + triggering_entities.apply( + [target_candidate, &is_included](const auto & triggering_scenario_object) { + assert(triggering_scenario_object.is()); + if (triggering_scenario_object.name() == target_candidate.name) { + is_included = true; + } + return true; }); + return is_included; + }; + if (is_target_candidate_scenario_object_in_triggering_entities( + target_candidate_scenario_object)) { + return true; } else { - throw common::Error("Relative lateral lane is not available"); + const auto & target_scenario_object = target_candidate_scenario_object; + return is_relative_clearance_exist( + triggering_scenario_object, target_scenario_object.name); } } - }; - - auto is_in_longitudinal_range = [&]() { - auto relative_longitudinal = - getRelativeLanePosition(triggering_entity, entity, free_space).s; - if (is_back) { - relative_longitudinal = -relative_longitudinal; - } - if (relative_longitudinal < 0) { - return std::abs(relative_longitudinal) <= distance_backward; - } else { - return relative_longitudinal <= distance_forward; - } - }; - - auto lat_ok = is_in_lateral_range(); - auto lon_ok = is_in_longitudinal_range(); - return not(lat_ok && lon_ok); - }); + }); + } })); } From d6bf5c60d28095ca7735bff2741eeae40e7a9c49 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Thu, 8 Aug 2024 16:16:59 +0900 Subject: [PATCH 106/304] Cleanup struct `MagicSubscription` Signed-off-by: yamacir-kit --- .../syntax/user_defined_value_condition.cpp | 108 +++++++++--------- 1 file changed, 57 insertions(+), 51 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp index c13b4d8edc1..c850016dc52 100644 --- a/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp @@ -33,70 +33,76 @@ namespace openscenario_interpreter inline namespace syntax { template -struct MagicSubscription : public T +struct MagicSubscription : private T { - struct Subscriber + struct Node : public rclcpp::Node { - rclcpp::Node node; - std::atomic_bool stop_requested = false; - std::promise promise; + std::mutex mutex; - std::future future; + std::exception_ptr thrown; std::thread thread; - explicit Subscriber() - : node("magic_subscription"), - future(promise.get_future()), - thread( - [this](std::promise promise) { - while (rclcpp::ok() and not stop_requested) { - try { - rclcpp::spin_some(node.get_node_base_interface()); - } catch (...) { - promise.set_exception(std::current_exception()); - } + explicit Node() + : rclcpp::Node("magic_subscription"), thread([this]() { + while (rclcpp::ok() and not stop_requested) { + try { + rclcpp::spin_some(get_node_base_interface()); + } catch (...) { + auto lock = std::lock_guard(mutex); + thrown = std::current_exception(); } - }, - std::move(promise)) + } + }) { } - }; - static auto subscriber() -> auto & - { - static std::unique_ptr subscriber = nullptr; + ~Node() + { + if (thread.joinable() and not stop_requested.exchange(true)) { + thread.join(); + } + } - if (not subscriber) { - subscriber = std::make_unique(); + auto rethrow() + { + if (auto lock = std::lock_guard(mutex); thrown) { + std::rethrow_exception(thrown); + } } + }; - return subscriber; - } + static inline std::size_t count = 0; - typename rclcpp::Subscription::SharedPtr subscription; + static inline std::unique_ptr node = nullptr; - static inline std::size_t count = 0; + typename rclcpp::Subscription::SharedPtr subscription; explicit MagicSubscription(const std::string & topic_name) - : subscription(subscriber()->node.template create_subscription( - topic_name, 1, [this, count = count++](const typename T::SharedPtr message) { - static_cast(*this) = *message; - })) { + if (not count++) { + node = std::make_unique(); + } + + subscription = node->template create_subscription( + topic_name, 1, + [this](const typename T::SharedPtr message) { static_cast(*this) = *message; }); } ~MagicSubscription() { - if ( - not --count and subscriber()->thread.joinable() and - not subscriber()->stop_requested.exchange(true)) { - subscriber()->thread.join(); - subscriber().reset(); + if (not --count) { + node.reset(); } } + + auto get() const -> const auto & + { + node->rethrow(); + return static_cast(*this); + } }; UserDefinedValueCondition::UserDefinedValueCondition(const pugi::xml_node & node, Scope & scope) @@ -158,29 +164,29 @@ UserDefinedValueCondition::UserDefinedValueCondition(const pugi::xml_node & node using tier4_simulation_msgs::msg::UserDefinedValueType; evaluate_value = - [this, message = std::make_shared>(result.str(0))]() { - auto evaluate = [](const auto & user_defined_value) { - switch (user_defined_value.type.data) { + [this, subscriber = std::make_shared>(result.str(0))]() { + if (const auto message = subscriber->get(); message.value.empty()) { + return unspecified; + } else { + switch (message.type.data) { case UserDefinedValueType::BOOLEAN: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::DATE_TIME: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::DOUBLE: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::INTEGER: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::STRING: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::UNSIGNED_INT: - return make(user_defined_value.value); + return make(message.value); case UserDefinedValueType::UNSIGNED_SHORT: - return make(user_defined_value.value); + return make(message.value); default: return unspecified; } - }; - - return message->value.empty() ? unspecified : evaluate(*message); + } }; #else throw SyntaxError( From c955d19e49029873e23a52477e138fb68b1462e4 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Thu, 8 Aug 2024 16:52:07 +0900 Subject: [PATCH 107/304] Update `MagicSubscription`'s QoS to best effort Signed-off-by: yamacir-kit --- .../src/syntax/user_defined_value_condition.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp index c850016dc52..29d0424434d 100644 --- a/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp @@ -87,7 +87,7 @@ struct MagicSubscription : private T } subscription = node->template create_subscription( - topic_name, 1, + topic_name, rclcpp::QoS(1).best_effort(), [this](const typename T::SharedPtr message) { static_cast(*this) = *message; }); } From be1470c7fb20c7667b0558da4b649a155b8a0381 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 8 Aug 2024 17:10:16 +0900 Subject: [PATCH 108/304] refactor: use std::optional for optional attribute in RelativeLaneRange --- .../reader/attribute.hpp | 11 +++++++++++ .../syntax/relative_lane_range.hpp | 7 +++++-- .../src/syntax/relative_clearance_condition.cpp | 17 +++++++++++++---- .../src/syntax/relative_lane_range.cpp | 9 +++++++-- 4 files changed, 36 insertions(+), 8 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/reader/attribute.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/reader/attribute.hpp index 06568802cbe..945e1a346a3 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/reader/attribute.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/reader/attribute.hpp @@ -22,6 +22,7 @@ #include #include #include +#include #include #include #include @@ -164,6 +165,16 @@ auto readAttribute(const std::string & name, const Node & node, const Scope & sc return value; } } + +template +auto readAttribute(const std::string & name, const Node & node, const Scope & scope, std::nullopt_t) +{ + if (node.attribute(name.c_str())) { + return std::make_optional(readAttribute(name, node, scope)); + } else { + return std::optional(); + } +} } // namespace reader } // namespace openscenario_interpreter diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp index f6f94e9332e..f20d562173e 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_lane_range.hpp @@ -17,6 +17,7 @@ #include #include +#include #include namespace openscenario_interpreter @@ -36,14 +37,16 @@ struct RelativeLaneRange /* The lower limit of the range. Range: [-inf, inf[. Default if omitted: -inf */ - const Integer from; + const std::optional from; /* The upper limit of the range. Range: ]-inf, inf]. Default if omitted: +inf */ - const Integer to; + const std::optional to; explicit RelativeLaneRange(const pugi::xml_node &, Scope &); + + auto evaluate(Integer::value_type value) const -> bool; }; } // namespace syntax } // namespace openscenario_interpreter diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index be7be2c1c5e..e78eae1c03e 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -54,8 +54,18 @@ auto RelativeClearanceCondition::description() const -> String description << "all lanes"; } else { for (auto range = relative_lane_range.begin(); range != relative_lane_range.end(); range++) { - description << ((range != relative_lane_range.begin()) ? std::string(", ") : std::string("")) - << range->from << " to " << range->to; + description << ((range != relative_lane_range.begin()) ? std::string(", ") : std::string("")); + if (range->from) { + if (range->to) { + description << range->from.value() << " to " << range->to.value(); + } else { + description << range->from.value() << "or more"; + } + } else { + if (range->to) { + description << range->to.value() << " or less"; + } + } } } @@ -90,8 +100,7 @@ auto RelativeClearanceCondition::evaluate() -> Object } return std::any_of( relative_lane_range.begin(), relative_lane_range.end(), [&](const auto & range) { - return range.from <= relative_lateral_lane.value() && - range.to >= relative_lateral_lane.value(); + return range.evaluate(relative_lateral_lane.value()); }); } else { throw common::Error("Relative lateral lane is not available"); diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp index 1061128a077..cd5fbe32950 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_lane_range.cpp @@ -20,9 +20,14 @@ namespace openscenario_interpreter inline namespace syntax { RelativeLaneRange::RelativeLaneRange(const pugi::xml_node & node, Scope & scope) -: from(readAttribute("from", node, scope, Integer::min())), - to(readAttribute("to", node, scope, Integer::max())) +: from(readAttribute("from", node, scope, std::nullopt)), + to(readAttribute("to", node, scope, std::nullopt)) { } + +auto RelativeLaneRange::evaluate(Integer::value_type value) const -> bool +{ + return (not from || from.value() <= value) && (not to || to >= value); +} } // namespace syntax } // namespace openscenario_interpreter From 609b3ef86114514f09613565cf73347648579f22 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 8 Aug 2024 18:48:59 +0900 Subject: [PATCH 109/304] refactor: use exception when errors are occurred in SimulatorCore::evaluateLateralRelativeLanes --- .../simulator_core.hpp | 7 ++--- .../syntax/relative_clearance_condition.cpp | 26 ++++++++++--------- 2 files changed, 18 insertions(+), 15 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp index 58716a3abb5..fc3a3f9edb6 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp @@ -259,8 +259,7 @@ class SimulatorCore static auto evaluateLateralRelativeLanes( const std::string & from_entity_name, const std::string & to_entity_name, - const RoutingAlgorithm::value_type routing_algorithm = RoutingAlgorithm::undefined) - -> std::optional + const RoutingAlgorithm::value_type routing_algorithm = RoutingAlgorithm::undefined) -> int { if (const auto from_entity = core->getEntity(from_entity_name)) { if (const auto to_entity = core->getEntity(to_entity_name)) { @@ -275,7 +274,9 @@ class SimulatorCore } } } - return std::nullopt; + throw common::Error( + "Failed to evaluate lateral relative lanes between ", from_entity_name, " and ", + to_entity_name); } }; diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index e78eae1c03e..236f316eb4c 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -92,19 +92,21 @@ auto RelativeClearanceCondition::evaluate() -> Object if (relative_lane_range.empty()) { return true; } else { - if (auto relative_lateral_lane = evaluateLateralRelativeLanes( - triggering_entity, target_entity, RoutingAlgorithm::shortest); - relative_lateral_lane.has_value()) { - if (is_back) { - relative_lateral_lane.value() = -relative_lateral_lane.value(); - } - return std::any_of( - relative_lane_range.begin(), relative_lane_range.end(), [&](const auto & range) { - return range.evaluate(relative_lateral_lane.value()); - }); - } else { - throw common::Error("Relative lateral lane is not available"); + int relative_lateral_lane; + try { + relative_lateral_lane = evaluateLateralRelativeLanes( + triggering_entity, target_entity, RoutingAlgorithm::shortest); + } catch (const std::exception &) { + // occurring errors means that the target entity is not in the specified range, + // under the assumption that relative lane range is defined in routable range . + return false; + } + if (is_back) { + relative_lateral_lane = -relative_lateral_lane; } + return std::any_of( + relative_lane_range.begin(), relative_lane_range.end(), + [&](const auto & range) { return range.evaluate(relative_lateral_lane); }); } }; From eaf95099061aea96a05a20a9f1d5bcf896779222 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 8 Aug 2024 18:55:55 +0900 Subject: [PATCH 110/304] refactor: delete RelativeClearanceCondition::getRelativeLanePosition --- .../syntax/relative_clearance_condition.hpp | 4 --- .../syntax/relative_clearance_condition.cpp | 29 +++++++++---------- 2 files changed, 14 insertions(+), 19 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp index 2348a6436be..804c60e50e6 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp @@ -81,10 +81,6 @@ struct RelativeClearanceCondition : private Scope, auto description() const -> String; auto evaluate() -> Object; - - [[nodiscard]] auto getRelativeLanePosition( - const EntityRef & triggering_entity, const EntityRef & entity, bool use_bounding_box) const - -> traffic_simulator::LaneletPose; }; } // namespace syntax } // namespace openscenario_interpreter diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index 236f316eb4c..82d471ea70e 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -111,8 +111,20 @@ auto RelativeClearanceCondition::evaluate() -> Object }; auto is_in_longitudinal_range = [&]() { - auto relative_longitudinal = - getRelativeLanePosition(triggering_entity, target_entity, free_space).s; + auto relative_longitudinal = [&]() { + if (free_space) { + return static_cast( + makeNativeBoundingBoxRelativeLanePosition( + triggering_entity, target_entity, RoutingAlgorithm::shortest)) + .s; + } else { + return static_cast( + makeNativeRelativeLanePosition( + triggering_entity, target_entity, RoutingAlgorithm::shortest)) + .s; + } + }(); + if (is_back) { relative_longitudinal = -relative_longitudinal; } @@ -188,18 +200,5 @@ auto RelativeClearanceCondition::evaluate() -> Object } })); } - -auto RelativeClearanceCondition::getRelativeLanePosition( - const EntityRef & triggering_entity, const EntityRef & entity, bool use_bounding_box) const - -> traffic_simulator::LaneletPose -{ - if (use_bounding_box) { - return static_cast(makeNativeBoundingBoxRelativeLanePosition( - triggering_entity, entity, RoutingAlgorithm::shortest)); - } else { - return static_cast( - makeNativeRelativeLanePosition(triggering_entity, entity, RoutingAlgorithm::shortest)); - } -} } // namespace syntax } // namespace openscenario_interpreter From d17e600ae6ee9ad7376715f9a9b298f1f640f5d5 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 8 Aug 2024 18:58:41 +0900 Subject: [PATCH 111/304] fix: treat added entity only in RelativeClearanceCondition --- .../src/syntax/relative_clearance_condition.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp index 82d471ea70e..5de182c649f 100644 --- a/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/relative_clearance_condition.cpp @@ -170,6 +170,8 @@ auto RelativeClearanceCondition::evaluate() -> Object [&](const auto & target_candidate_entity) { if (not target_candidate_entity.second.template is()) { return true; + } else if (not target_candidate_entity.second.template as().is_added) { + return true; } else { const ScenarioObject & target_candidate_scenario_object = target_candidate_entity.second.template as(); From e8143fedf58f49172b8e5e67863f38475113f01b Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Fri, 9 Aug 2024 18:17:31 +0200 Subject: [PATCH 112/304] Test: [RJD-937] to Implement Unit tests on simple_sensor_simulator - Removed dummy class - Updated unit tests --- .../primitives/test_primitive.cpp | 35 ++++++----- .../primitives/test_primitive.hpp | 58 ++----------------- 2 files changed, 23 insertions(+), 70 deletions(-) diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.cpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.cpp index 1f5b1330c19..6438a0b2bb7 100644 --- a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.cpp +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.cpp @@ -14,7 +14,9 @@ #include "test_primitive.hpp" +#include #include +#include #include "../../utils/expect_eq_macros.hpp" @@ -24,8 +26,8 @@ TEST_F(PrimitiveTest, addToScene_sample) { const std::vector expected_vertices = { - {0.0f, 1.0f, -1.0f}, {2.0f, 1.0f, -1.0f}, {0.0f, 3.0f, -1.0f}, {2.0f, 3.0f, -1.0f}, - {0.0f, 1.0f, 1.0f}, {2.0f, 1.0f, 1.0f}, {0.0f, 3.0f, 1.0f}, {2.0f, 3.0f, 1.0f}}; + {0.0f, 1.0f, -1.0f}, {0.0f, 1.0f, 1.0f}, {0.0f, 3.0f, -1.0f}, {0.0f, 3.0f, 1.0f}, + {2.0f, 1.0f, -1.0f}, {2.0f, 1.0f, 1.0f}, {2.0f, 3.0f, -1.0f}, {2.0f, 3.0f, 1.0f}}; const auto expected_triangles = primitive_->getTriangles(); RTCDevice device = rtcNewDevice(nullptr); @@ -60,15 +62,15 @@ TEST_F(PrimitiveTest, addToScene_sample) } /** - * @note Test function behavior with vertices and triangles set to only zeros. + * @note Test function behavior with vertices set to only zeros. */ TEST_F(PrimitiveTest, addToScene_zeros) { - const std::vector expected_triangles = {{0, 0, 0}}; - const std::vector expected_vertices = {{1.0f, 2.0f, 0.0f}}; + const std::vector expected_triangles = {{0, 1, 2}}; + const std::vector expected_vertices = {{0.0f, 0.0f, 0.0f}}; - primitive_->setVertices({{0.0f, 0.0f, 0.0f}}); - primitive_->setTriangles(expected_triangles); + primitive_ = + std::make_unique(0.0f, 0.0f, 0.0f, utils::makePose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0)); RTCDevice device = rtcNewDevice(nullptr); RTCScene scene = rtcNewScene(device); @@ -106,9 +108,9 @@ TEST_F(PrimitiveTest, addToScene_zeros) */ TEST_F(PrimitiveTest, getTriangles) { - const std::vector expected_triangles = {{0, 1, 2}, {1, 3, 2}, {4, 5, 6}, {5, 7, 6}, - {0, 1, 4}, {1, 5, 4}, {2, 3, 6}, {3, 7, 6}, - {0, 2, 4}, {2, 6, 4}, {1, 3, 5}, {3, 7, 5}}; + const std::vector expected_triangles = {{0, 1, 2}, {1, 3, 2}, {4, 6, 5}, {5, 6, 7}, + {0, 4, 1}, {1, 4, 5}, {2, 3, 6}, {3, 7, 6}, + {0, 2, 4}, {2, 6, 4}, {1, 5, 3}, {3, 5, 7}}; const auto triangles = primitive_->getTriangles(); @@ -119,14 +121,13 @@ TEST_F(PrimitiveTest, getTriangles) } /** - * @note Test basic functionality. Test obtaining vertex correctness with a sample vertex and a non - * trivial Primitive pose - the goal is to test transformation of vertex elements. + * @note Test basic functionality. Test obtaining vertexes correctness. */ TEST_F(PrimitiveTest, getVertex) { const std::vector expected_vertices = { - {0.0f, 1.0f, -1.0f}, {2.0f, 1.0f, -1.0f}, {0.0f, 3.0f, -1.0f}, {2.0f, 3.0f, -1.0f}, - {0.0f, 1.0f, 1.0f}, {2.0f, 1.0f, 1.0f}, {0.0f, 3.0f, 1.0f}, {2.0f, 3.0f, 1.0f}}; + {0.0f, 1.0f, -1.0f}, {0.0f, 1.0f, 1.0f}, {0.0f, 3.0f, -1.0f}, {0.0f, 3.0f, 1.0f}, + {2.0f, 1.0f, -1.0f}, {2.0f, 1.0f, 1.0f}, {2.0f, 3.0f, -1.0f}, {2.0f, 3.0f, 1.0f}}; const auto vertices = primitive_->getVertex(); @@ -207,7 +208,8 @@ TEST_F(PrimitiveTest, getMin_withTransform) */ TEST_F(PrimitiveTest, getMin_empty) { - primitive_->setVertices(std::vector{}); + primitive_ = std::make_unique("Unknown", pose_); + const auto min_x = primitive_->getMin(math::geometry::Axis::X); EXPECT_FALSE(min_x.has_value()); @@ -243,7 +245,8 @@ TEST_F(PrimitiveTest, getMax_withTransform) */ TEST_F(PrimitiveTest, getMax_empty) { - primitive_->setVertices(std::vector{}); + primitive_ = std::make_unique("Unknown", pose_); + const auto max_x = primitive_->getMax(math::geometry::Axis::X); EXPECT_FALSE(max_x.has_value()); diff --git a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp index 3a752620be1..2343104aa81 100644 --- a/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp +++ b/simulation/simple_sensor_simulator/test/src/sensor_simulation/primitives/test_primitive.hpp @@ -17,76 +17,26 @@ #include -#include -#include -#include +#include +#include #include -#include #include "../../utils/helper_functions.hpp" using namespace simple_sensor_simulator::primitives; using namespace simple_sensor_simulator; -namespace simple_sensor_simulator -{ -namespace primitives -{ - -class DummyPrimitive : public Primitive -{ -public: - DummyPrimitive(const std::string & type, const geometry_msgs::msg::Pose & pose) - : Primitive(type, pose) - { - } - - auto setVertices(const std::vector & vertices) -> void { vertices_ = vertices; } - auto setTriangles(const std::vector & triangles) -> void { triangles_ = triangles; } - - auto getVerticesSize() const -> size_t { return vertices_.size(); } - auto getTrianglesSize() const -> size_t { return triangles_.size(); } - - auto getVertices() const -> const std::vector & { return vertices_; } - auto getTriangles() const -> const std::vector & { return triangles_; } -}; - -} // namespace primitives -} // namespace simple_sensor_simulator - class PrimitiveTest : public ::testing::Test { protected: PrimitiveTest() : pose_(utils::makePose(1.0, 2.0, 0.0, 0.0, 0.0, 0.0, 1.0)), - primitive_(std::make_unique("DummyPrimitive", pose_)) + primitive_(std::make_unique(2.0f, 2.0f, 2.0f, pose_)) { - primitive_->setVertices( - {{-1.0f, -1.0f, -1.0f}, - {1.0f, -1.0f, -1.0f}, - {-1.0f, 1.0f, -1.0f}, - {1.0f, 1.0f, -1.0f}, - {-1.0f, -1.0f, 1.0f}, - {1.0f, -1.0f, 1.0f}, - {-1.0f, 1.0f, 1.0f}, - {1.0f, 1.0f, 1.0f}}); - primitive_->setTriangles( - {{0, 1, 2}, - {1, 3, 2}, - {4, 5, 6}, - {5, 7, 6}, - {0, 1, 4}, - {1, 5, 4}, - {2, 3, 6}, - {3, 7, 6}, - {0, 2, 4}, - {2, 6, 4}, - {1, 3, 5}, - {3, 7, 5}}); } geometry_msgs::msg::Pose pose_; - std::unique_ptr primitive_; + std::unique_ptr primitive_; }; #endif // SIMPLE_SENSOR_SIMULATOR__TEST__TEST_PRIMITIVE_HPP_ From 1cb560a64e96beff75bf77cc6e3fc8937db3b1ee Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 13 Aug 2024 16:34:23 +0900 Subject: [PATCH 113/304] fix ament_auto_package macro Signed-off-by: Masaya Kataoka --- mock/cpp_mock_scenarios/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mock/cpp_mock_scenarios/CMakeLists.txt b/mock/cpp_mock_scenarios/CMakeLists.txt index 308df5bf84a..84a18e37be7 100644 --- a/mock/cpp_mock_scenarios/CMakeLists.txt +++ b/mock/cpp_mock_scenarios/CMakeLists.txt @@ -73,4 +73,4 @@ if(BUILD_TESTING) # add_cpp_mock_scenario_test(${PROJECT_NAME} "traffic_simulation_demo" "70") endif() -ament_auto_package(CONFIG_EXTRAS "${PROJECT_NAME}-extras.cmake") +ament_auto_package(CONFIG_EXTRAS "${PROJECT_NAME}_ament_cmake-extras.cmake") From b1e93f5f5110f3f143c2728b35c8aea19c38921f Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 13 Aug 2024 17:31:29 +0900 Subject: [PATCH 114/304] update Release Action Signed-off-by: Masaya Kataoka --- .github/workflows/Docekr.yaml | 70 ++++++++++++++++++++++++++++++++++ .github/workflows/Release.yaml | 47 ----------------------- 2 files changed, 70 insertions(+), 47 deletions(-) create mode 100644 .github/workflows/Docekr.yaml diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docekr.yaml new file mode 100644 index 00000000000..e43d6efe20d --- /dev/null +++ b/.github/workflows/Docekr.yaml @@ -0,0 +1,70 @@ +name: Docker +on: + pull_request: + branches: + - master + push: + tags: + +jobs: + push_docker: + name: Push Docker Image + runs-on: ubuntu-22.04 + timeout-minutes: 720 + strategy: + matrix: + rosdistro: [humble] + arch: [amd64] + # Build test for arm64 CPU is broken. + # This is a temporary solution and will be repaired in the future. + # See also https://github.com/tier4/scenario_simulator_v2/pull/1295 + # arch: [amd64, arm64] + steps: + - name: Free Disk Space (Ubuntu) + uses: jlumbroso/free-disk-space@main + with: + tool-cache: false + + - name: Install docker for ubuntu runner + uses: docker/setup-buildx-action@v3 + + - name: Install QEMU + uses: docker/setup-qemu-action@v3 + + - uses: actions/checkout@v3 + + - name: Login to GitHub Container Registry + uses: docker/login-action@v2 + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.GITHUB_TOKEN }} + + - name: Build (${{ matrix.arch }}) + if: github.event_name == 'pull_request' + uses: docker/bake-action@v3 + with: + files: | + ./docker-bake.hcl + workdir: . + set: | + *.cache-to=type=gha,mode=max + *.cache-from=type=gha + push: false + targets: | + ${{ matrix.rosdistro }}_base_${{ matrix.arch }} + + - name: Build and push (${{ matrix.arch }}) + if: github.event_name != 'pull_request' + uses: docker/bake-action@v3 + with: + files: | + ./docker-bake.hcl + workdir: . + set: | + *.cache-to=type=gha,mode=max + *.cache-from=type=gha + *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.ref_name }} + push: true + targets: | + ${{ matrix.rosdistro }}_base_${{ matrix.arch }} diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index fbbc78ff620..39b5508f735 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -142,50 +142,3 @@ jobs: repo: context.repo.repo, ref: `heads/${context.payload.pull_request.head.ref}`, }) - push_docker: - needs: release - name: Push Docker Image - runs-on: ubuntu-22.04 - timeout-minutes: 720 - strategy: - matrix: - rosdistro: [humble] - arch: [amd64] - # Build test for arm64 CPU is broken. - # This is a temporary solution and will be repaired in the future. - # See also https://github.com/tier4/scenario_simulator_v2/pull/1295 - # arch: [amd64, arm64] - steps: - - name: Free Disk Space (Ubuntu) - uses: jlumbroso/free-disk-space@main - with: - tool-cache: false - - - name: Install docker for ubuntu runner - uses: docker/setup-buildx-action@v3 - - - name: Install QEMU - uses: docker/setup-qemu-action@v3 - - - uses: actions/checkout@v3 - - - name: Login to GitHub Container Registry - uses: docker/login-action@v2 - with: - registry: ghcr.io - username: ${{ github.actor }} - password: ${{ secrets.GITHUB_TOKEN }} - - - name: Build and push (${{ matrix.arch }}) - uses: docker/bake-action@v3 - with: - files: | - ./docker-bake.hcl - workdir: . - set: | - *.cache-to=type=gha,mode=max - *.cache-from=type=gha - *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ needs.release.outputs.new_version }} - push: ${{ github.event.pull_request.merged == true }} - targets: | - ${{ matrix.rosdistro }}_base_${{ matrix.arch }} From 9c868b77ed48aa621530187bbcdfd69d60c9ae10 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 13 Aug 2024 17:49:00 +0900 Subject: [PATCH 115/304] print event_name Signed-off-by: Masaya Kataoka --- .github/workflows/Docekr.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docekr.yaml index e43d6efe20d..0736749f2d0 100644 --- a/.github/workflows/Docekr.yaml +++ b/.github/workflows/Docekr.yaml @@ -20,6 +20,8 @@ jobs: # See also https://github.com/tier4/scenario_simulator_v2/pull/1295 # arch: [amd64, arm64] steps: + - name: echo github.event_name + run: echo '${{ github.event_name }}' - name: Free Disk Space (Ubuntu) uses: jlumbroso/free-disk-space@main with: From 04606920c2d234b0fde70fd77a8800e04f9c1031 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Dawid=20Moszy=C5=84ski?= <121798334+dmoszynski@users.noreply.github.com> Date: Tue, 13 Aug 2024 11:13:41 +0200 Subject: [PATCH 116/304] doc(distance): use doxygen format Co-authored-by: Masaya Kataoka --- simulation/traffic_simulator/src/utils/distance.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/simulation/traffic_simulator/src/utils/distance.cpp b/simulation/traffic_simulator/src/utils/distance.cpp index bf235e9a85c..3f582ea1446 100644 --- a/simulation/traffic_simulator/src/utils/distance.cpp +++ b/simulation/traffic_simulator/src/utils/distance.cpp @@ -45,10 +45,7 @@ auto lateralDistance( } } -/* - See doc: - https://github.com/tier4/scenario_simulator_v2/blob/729e4e6372cdba60e377ae097d032905b80763a9/docs/developer_guide/lane_pose_calculation/GetLongitudinalDistance.md -*/ +/// @sa https://github.com/tier4/scenario_simulator_v2/blob/729e4e6372cdba60e377ae097d032905b80763a9/docs/developer_guide/lane_pose_calculation/GetLongitudinalDistance.md auto longitudinalDistance( const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to, bool include_adjacent_lanelet, bool include_opposite_direction, bool allow_lane_change, From 8bd998a01e7cf8993be52c5c661db83e60b129a4 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Tue, 13 Aug 2024 11:14:30 +0200 Subject: [PATCH 117/304] ref(behavior_tree): remove unused variable --- .../include/behavior_tree_plugin/action_node.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp index d167045dfb0..67d0059618c 100644 --- a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp +++ b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp @@ -118,7 +118,6 @@ class ActionNode : public BT::ActionNodeBase double step_time; double default_matching_distance_for_lanelet_pose_calculation; std::optional target_speed; - std::shared_ptr non_canonicalized_updated_status; EntityStatusDict other_entity_status; lanelet::Ids route_lanelets; From 1e87af8407913d9c48529e942b87e4629b9800a8 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 14 Aug 2024 15:38:46 +0900 Subject: [PATCH 118/304] update push flag Signed-off-by: Masaya Kataoka --- .github/workflows/Docekr.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docekr.yaml index 0736749f2d0..8ebc3e4ff57 100644 --- a/.github/workflows/Docekr.yaml +++ b/.github/workflows/Docekr.yaml @@ -5,6 +5,7 @@ on: - master push: tags: + - '*.*.*' jobs: push_docker: From 7463271f3da633c71095d3955efc3bedabb5fc5c Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 14 Aug 2024 15:40:07 +0900 Subject: [PATCH 119/304] remove debug step Signed-off-by: Masaya Kataoka --- .github/workflows/Docekr.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docekr.yaml index 8ebc3e4ff57..8344abc4f21 100644 --- a/.github/workflows/Docekr.yaml +++ b/.github/workflows/Docekr.yaml @@ -21,8 +21,6 @@ jobs: # See also https://github.com/tier4/scenario_simulator_v2/pull/1295 # arch: [amd64, arm64] steps: - - name: echo github.event_name - run: echo '${{ github.event_name }}' - name: Free Disk Space (Ubuntu) uses: jlumbroso/free-disk-space@main with: From ef1914883be7c7def04395d34bdb565ad3cf35d3 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 14 Aug 2024 16:07:30 +0900 Subject: [PATCH 120/304] remove \n Signed-off-by: Masaya Kataoka --- .../include/random_test_runner/data_types.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/random_test_runner/include/random_test_runner/data_types.hpp b/test_runner/random_test_runner/include/random_test_runner/data_types.hpp index b6dbf773b5a..d79e8e03055 100644 --- a/test_runner/random_test_runner/include/random_test_runner/data_types.hpp +++ b/test_runner/random_test_runner/include/random_test_runner/data_types.hpp @@ -166,7 +166,7 @@ struct fmt::formatter fmt::format_to( ctx.out(), "ego_start_position: {} ego_goal_position: {} " - "ego_goal_pose: {}\nnpc_descriptions:", + "ego_goal_pose: {} npc_descriptions:", v.ego_start_position, v.ego_goal_position, v.ego_goal_pose); for (size_t idx = 0; idx < v.npcs_descriptions.size(); idx++) { fmt::format_to(ctx.out(), "[{}]: {}\n", idx, v.npcs_descriptions[idx]); From 0c257cf180c2d6a48683b6adf548998eb14f9f55 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 15 Aug 2024 15:51:05 +0900 Subject: [PATCH 121/304] configure triggers Signed-off-by: Masaya Kataoka --- .github/workflows/Docekr.yaml | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docekr.yaml index 8344abc4f21..e32e78737a5 100644 --- a/.github/workflows/Docekr.yaml +++ b/.github/workflows/Docekr.yaml @@ -1,11 +1,19 @@ name: Docker on: pull_request: - branches: - - master + paths: + - "**" + - "!docs/**" + - "!README.md" + - "!CONTRIBUTING.md" + - "!.github/**" + - ".github/workflows/Docker.yaml" + - "!mkdocs.yml" + - "!pyproject.toml" + - "!poetry.lock" push: tags: - - '*.*.*' + - '*' jobs: push_docker: From 8abcdf0b9f3b18fc66d96024e45686368d67cbb3 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 15 Aug 2024 15:53:45 +0900 Subject: [PATCH 122/304] empty commit Signed-off-by: Masaya Kataoka From bdf88fb65fd2a2e3a0c8a9603ed43818bcb7c003 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 15 Aug 2024 16:21:16 +0900 Subject: [PATCH 123/304] fix timestamp in status_with_trajectory Signed-off-by: Masaya Kataoka --- simulation/traffic_simulator/src/entity/entity_manager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/src/entity/entity_manager.cpp b/simulation/traffic_simulator/src/entity/entity_manager.cpp index ca1e411ddc0..70ae4131f79 100644 --- a/simulation/traffic_simulator/src/entity/entity_manager.cpp +++ b/simulation/traffic_simulator/src/entity/entity_manager.cpp @@ -440,7 +440,7 @@ void EntityManager::update(const double current_time, const double step_time) } status_with_trajectory.status = static_cast(status); status_with_trajectory.name = name; - status_with_trajectory.time = current_time + step_time; + status_with_trajectory.time = current_time; status_array_msg.data.emplace_back(status_with_trajectory); } entity_status_array_pub_ptr_->publish(status_array_msg); From 0ccbfc468595244ca370c945b9c7556012b40061 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 15 Aug 2024 16:22:57 +0900 Subject: [PATCH 124/304] fix timestamp Signed-off-by: Masaya Kataoka --- simulation/traffic_simulator/src/entity/entity_manager.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/src/entity/entity_manager.cpp b/simulation/traffic_simulator/src/entity/entity_manager.cpp index 70ae4131f79..17a89ddf6f4 100644 --- a/simulation/traffic_simulator/src/entity/entity_manager.cpp +++ b/simulation/traffic_simulator/src/entity/entity_manager.cpp @@ -439,8 +439,9 @@ void EntityManager::update(const double current_time, const double step_time) status_with_trajectory.obstacle_find = false; } status_with_trajectory.status = static_cast(status); + status_with_trajectory.status.time = current_time + step_time; status_with_trajectory.name = name; - status_with_trajectory.time = current_time; + status_with_trajectory.time = current_time + step_time; status_array_msg.data.emplace_back(status_with_trajectory); } entity_status_array_pub_ptr_->publish(status_array_msg); From d277bdd7e2e5af62bb02f854d836376ab85463f4 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 16 Aug 2024 14:54:12 +0900 Subject: [PATCH 125/304] fix interpolate ration calculation Signed-off-by: Masaya Kataoka --- simulation/do_nothing_plugin/src/plugin.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/simulation/do_nothing_plugin/src/plugin.cpp b/simulation/do_nothing_plugin/src/plugin.cpp index ca84dc72406..f606392fb9a 100644 --- a/simulation/do_nothing_plugin/src/plugin.cpp +++ b/simulation/do_nothing_plugin/src/plugin.cpp @@ -111,10 +111,14 @@ auto interpolateEntityStatusFromPolylineTrajectory( return interpolated_entity_status; }; - if ((current_time + step_time) <= trajectory->shape.vertices.begin()->time) { + if ( + (current_time + step_time) <= + (trajectory->base_time + trajectory->shape.vertices.begin()->time)) { return std::nullopt; } - if (trajectory->shape.vertices.back().time <= (current_time + step_time)) { + if ( + (trajectory->base_time + trajectory->shape.vertices.back().time) <= + (current_time + step_time)) { return interpolate_entity_status( 1, *std::prev(trajectory->shape.vertices.end(), 2), *std::prev(trajectory->shape.vertices.end(), 1)); From 1d219827a28b82a5d0359c0918862e6b0a7c4d2a Mon Sep 17 00:00:00 2001 From: Release Bot Date: Mon, 19 Aug 2024 05:42:43 +0000 Subject: [PATCH 126/304] Bump version of scenario_simulator_v2 from version 3.4.2 to version 3.4.3 --- common/math/arithmetic/CHANGELOG.rst | 3 +++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 3 +++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 3 +++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 3 +++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 3 +++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 3 +++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 3 +++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 3 +++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 3 +++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 7 +++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 3 +++ openscenario/openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_example/package.xml | 2 +- openscenario/openscenario_interpreter_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor/package.xml | 2 +- openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 3 +++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 3 +++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 3 +++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../real_time_factor_control_rviz_plugin/CHANGELOG.rst | 3 +++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 3 +++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 3 +++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 3 +++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 3 +++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 3 +++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 3 +++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 3 +++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 3 +++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 3 +++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 120 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 36bf2adb8b8..1eeb23b4df2 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index f533b05d41f..29d6d08c935 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.4.2 + 3.4.3 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 96ce8ab8d52..954697a1319 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index dbfe14571f1..0dea6c489d9 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.4.2 + 3.4.3 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index b6ce0b2ba89..ab65d5a5863 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 431d38cbf2d..180c3dc2d29 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.4.2 + 3.4.3 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 e43c26c2ef6..563363b4b19 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 6386b24a4a0..32c55fc3f56 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.4.2 + 3.4.3 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 6149898fb8c..c9006e3918b 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 556364b8c62..b013d229f3b 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.4.2 + 3.4.3 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index f2690904d67..a58fe96b161 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 79c73bc9be2..36735099f96 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.4.2 + 3.4.3 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 f938dc27fa1..b8bbff4cab1 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 15568e6da44..f663d103f1a 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.4.2 + 3.4.3 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 abdc07a51be..2fed4769185 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 6ef23698055..ebbc0089807 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.4.2 + 3.4.3 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 dbdbd51742d..d0f9daf2610 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,9 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 7a08689d18a..f6a38767c1f 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.4.2 + 3.4.3 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 ee2ea566a0a..89b11d52e29 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ +* Merge pull request `#1339 `_ from tier4/fix/ament_auto_package + fix CONFIG_EXTRAS argument of ament_auto_package macro +* fix ament_auto_package macro +* Contributors: Masaya Kataoka + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 84f86210815..a19b7761245 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.4.2 + 3.4.3 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 fc47e7693bb..23882ec8753 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 8e3160af2e6..9e2d1db51f5 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.4.2 + 3.4.3 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 5e8546533e3..1634255e7ce 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,9 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge branch 'master' into doc/longitudinal-control diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 00d7949643c..b3395f2d1d1 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.4.2 + 3.4.3 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 6a6b0242dc8..60512ecdf9e 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 06c82717359..448f23702be 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.4.2 + 3.4.3 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 1c8ae389b5c..575b7303d34 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 697d6261d74..a0e4a546396 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.4.2 + 3.4.3 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 5b9c6ab78ad..788c4453052 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index a1bcfe5d27d..38413a3438f 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.4.2 + 3.4.3 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 d85a9885d89..b2ed33a0052 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 6efd1246130..eb63629f883 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.4.2 + 3.4.3 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 f5447823350..95f39c1d2ad 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 01b23b31e5f..3f817de2a6e 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.4.2 + 3.4.3 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 8e1f1f599ec..78a9c047648 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,9 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index bd21a92e59f..68cc76df948 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.4.2 + 3.4.3 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 b3e1b9e5c14..abf9e183b17 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index fd3e3bb1708..88b06431162 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.4.2 + 3.4.3 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 3c00a040c3f..23e52eddd1d 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 +21,9 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control 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 115f07ed1c1..6574e60f8e7 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 - 3.4.2 + 3.4.3 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 b263feb86c0..7bcb0e54782 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 0f087fc6af4..e755afeabf1 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.4.2 + 3.4.3 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 c8f6ccd7f2b..450e562ab03 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 77bf5abe99b..45c763805bd 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.4.2 + 3.4.3 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 6fdde310518..cb54d773c58 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index c2bc7f89c43..710bce1d396 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.4.2 + 3.4.3 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 b5f73466cc9..90542cbc3b5 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge branch 'master' into doc/longitudinal-control diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 90bb8780465..4447456cbeb 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.4.2 + 3.4.3 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 1ffa0eab9da..a04bab28d96 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge branch 'master' into doc/longitudinal-control diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 885589fd270..a14ee2e6843 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.4.2 + 3.4.3 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 e3e93704b38..47c587abe52 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge branch 'master' into doc/longitudinal-control diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index b2c8b089034..87a2384992a 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.4.2 + 3.4.3 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 4c0b74852aa..cbe4e3fa8fa 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 2c1dedb6696..c0c9a3d8074 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.4.2 + 3.4.3 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 6a1299f1137..9a783f89d38 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index bf4e1a5bcc6..693c71ee434 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.4.2 + 3.4.3 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 d4fef8eb21c..87394569b74 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,9 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.3 (2024-08-19) +------------------ + 3.4.2 (2024-08-05) ------------------ * Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index f88e0c3572f..64838e3fc0d 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.4.2 + 3.4.3 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From b48ee4db8e22359c7ea7a11804623a743b4203cd Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 19 Aug 2024 14:51:52 +0900 Subject: [PATCH 127/304] change trigger Signed-off-by: Masaya Kataoka --- .github/workflows/Docekr.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docekr.yaml index e32e78737a5..18ab80fa928 100644 --- a/.github/workflows/Docekr.yaml +++ b/.github/workflows/Docekr.yaml @@ -11,9 +11,9 @@ on: - "!mkdocs.yml" - "!pyproject.toml" - "!poetry.lock" - push: - tags: - - '*' + release: + types: [published] + jobs: push_docker: @@ -73,7 +73,7 @@ jobs: set: | *.cache-to=type=gha,mode=max *.cache-from=type=gha - *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.ref_name }} + *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.event.release.tag_name }} push: true targets: | ${{ matrix.rosdistro }}_base_${{ matrix.arch }} From f6b89d67023ef6ee09f7dc5b6540022b5dba6fff Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 19 Aug 2024 10:19:33 +0200 Subject: [PATCH 128/304] review changes --- .../test/src/helper/test_helper.cpp | 12 +-- .../src/traffic_lights/test_traffic_light.cpp | 73 ++++++------------- 2 files changed, 30 insertions(+), 55 deletions(-) diff --git a/simulation/traffic_simulator/test/src/helper/test_helper.cpp b/simulation/traffic_simulator/test/src/helper/test_helper.cpp index b2b352f5174..4ddfdfa28e1 100644 --- a/simulation/traffic_simulator/test/src/helper/test_helper.cpp +++ b/simulation/traffic_simulator/test/src/helper/test_helper.cpp @@ -81,8 +81,10 @@ TEST(helper, constructRPYfromQuaternion) EXPECT_VECTOR3_EQ(default_rpy, default_vec); } { - const auto vec = - geometry_msgs::build().x(-M_PI / 3.0).y(-M_PI / 6.0).z(M_PI / 2); + const auto vec = geometry_msgs::build() + .x(-M_PI / 3.0) + .y(-M_PI / 6.0) + .z(M_PI / 2.0); const auto rpy = traffic_simulator::helper::constructRPYfromQuaternion( geometry_msgs::build().x(-0.183).y(-0.5).z(0.5).w(0.683)); EXPECT_VECTOR3_NEAR(rpy, vec, 1.0e-3); @@ -100,8 +102,8 @@ TEST(helper, constructPose) .orientation( geometry_msgs::build().x(-0.183).y(-0.5).z(0.5).w(0.683)); - const auto result_pose = - traffic_simulator::helper::constructPose(43.0, 47.0, 53.0, -M_PI / 3.0, -M_PI / 6.0, M_PI / 2); + const auto result_pose = traffic_simulator::helper::constructPose( + 43.0, 47.0, 53.0, -M_PI / 3.0, -M_PI / 6.0, M_PI / 2.0); EXPECT_POSE_NEAR(result_pose, actual_pose, 1.0e-3); } @@ -130,7 +132,7 @@ TEST(helper, constructDetectionSensorConfiguration) actual_configuration.set_update_duration(3.0); const auto result_configuration = - traffic_simulator::helper::constructDetectionSensorConfiguration("ego", "test", 3); + traffic_simulator::helper::constructDetectionSensorConfiguration("ego", "test", 3.0); EXPECT_DETECTION_SENSOR_CONFIGURATION_EQ(result_configuration, actual_configuration); } diff --git a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp index bf228bfcf71..4401334baa9 100644 --- a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp +++ b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp @@ -20,6 +20,12 @@ #include #include +using TrafficLight = traffic_simulator::TrafficLight; +using Color = TrafficLight::Color; +using Status = TrafficLight::Status; +using Shape = TrafficLight::Shape; +using Bulb = TrafficLight::Bulb; + int main(int argc, char ** argv) { testing::InitGoogleTest(&argc, argv); @@ -31,8 +37,6 @@ int main(int argc, char ** argv) */ TEST(Color, Color) { - using Color = traffic_simulator::TrafficLight::Color; - { const auto color = Color("green"); @@ -85,13 +89,12 @@ TEST(Color, Color) */ TEST(Color, make) { - using Color = traffic_simulator::TrafficLight::Color; { const auto color = Color::make("green"); EXPECT_TRUE(color == Color::green); EXPECT_TRUE(color.is(Color::green)); - EXPECT_TRUE(boost::lexical_cast("green") == Color::green); + EXPECT_TRUE(boost::lexical_cast(color) == Color::green); EXPECT_TRUE(boost::lexical_cast(color) == "green"); } @@ -100,7 +103,7 @@ TEST(Color, make) EXPECT_TRUE(color == Color::yellow); EXPECT_TRUE(color.is(Color::yellow)); - EXPECT_TRUE(boost::lexical_cast("yellow") == Color::yellow); + EXPECT_TRUE(boost::lexical_cast(color) == Color::yellow); EXPECT_TRUE(boost::lexical_cast(color) == "yellow"); } @@ -109,7 +112,7 @@ TEST(Color, make) EXPECT_TRUE(color == Color::red); EXPECT_TRUE(color.is(Color::red)); - EXPECT_TRUE(boost::lexical_cast("red") == Color::red); + EXPECT_TRUE(boost::lexical_cast(color) == Color::red); EXPECT_TRUE(boost::lexical_cast(color) == "red"); } @@ -118,7 +121,7 @@ TEST(Color, make) EXPECT_TRUE(color == Color::white); EXPECT_TRUE(color.is(Color::white)); - EXPECT_TRUE(boost::lexical_cast("white") == Color::white); + EXPECT_TRUE(boost::lexical_cast(color) == Color::white); EXPECT_TRUE(boost::lexical_cast(color) == "white"); } @@ -127,7 +130,7 @@ TEST(Color, make) EXPECT_TRUE(color == Color::yellow); EXPECT_TRUE(color.is(Color::yellow)); - EXPECT_TRUE(boost::lexical_cast("amber") == Color::yellow); + EXPECT_TRUE(boost::lexical_cast(color) == Color::yellow); EXPECT_TRUE(boost::lexical_cast(color) == "yellow"); } } @@ -145,8 +148,6 @@ TEST(Color, make_wrong) */ TEST(Status, Status) { - using Status = traffic_simulator::TrafficLight::Status; - { const auto status = Status("solidOn"); @@ -189,14 +190,12 @@ TEST(Status, Status) */ TEST(Status, make) { - using Status = traffic_simulator::TrafficLight::Status; - { const auto status = Status::make("solidOn"); EXPECT_TRUE(status == Status::solid_on); EXPECT_TRUE(status.is(Status::solid_on)); - EXPECT_TRUE(boost::lexical_cast("solidOn") == Status::solid_on); + EXPECT_TRUE(boost::lexical_cast(status) == Status::solid_on); EXPECT_TRUE(boost::lexical_cast(status) == "solidOn"); } @@ -205,7 +204,7 @@ TEST(Status, make) EXPECT_TRUE(status == Status::solid_off); EXPECT_TRUE(status.is(Status::solid_off)); - EXPECT_TRUE(boost::lexical_cast("solidOff") == Status::solid_off); + EXPECT_TRUE(boost::lexical_cast(status) == Status::solid_off); EXPECT_TRUE(boost::lexical_cast(status) == "solidOff"); } @@ -214,7 +213,7 @@ TEST(Status, make) EXPECT_TRUE(status == Status::flashing); EXPECT_TRUE(status.is(Status::flashing)); - EXPECT_TRUE(boost::lexical_cast("flashing") == Status::flashing); + EXPECT_TRUE(boost::lexical_cast(status) == Status::flashing); EXPECT_TRUE(boost::lexical_cast(status) == "flashing"); } @@ -223,7 +222,7 @@ TEST(Status, make) EXPECT_TRUE(status == Status::unknown); EXPECT_TRUE(status.is(Status::unknown)); - EXPECT_TRUE(boost::lexical_cast("unknown") == Status::unknown); + EXPECT_TRUE(boost::lexical_cast(status) == Status::unknown); EXPECT_TRUE(boost::lexical_cast(status) == "unknown"); } } @@ -241,8 +240,6 @@ TEST(Status, make_wrong) */ TEST(Shape, Shape) { - using Shape = traffic_simulator::TrafficLight::Shape; - { const auto shape = Shape("circle"); @@ -359,8 +356,6 @@ TEST(Shape, Shape) */ TEST(Shape, make) { - using Shape = traffic_simulator::TrafficLight::Shape; - { const auto shape = Shape::make("circle"); @@ -481,16 +476,10 @@ TEST(Shape, make_wrong) } /** - * @note Test object creation correcness. + * @note Test hashing function. An object must be assigned the same hash every time. */ -TEST(Bulb, Bulb) +TEST(Bulb, hash) { - using TrafficLight = traffic_simulator::TrafficLight; - using Color = TrafficLight::Color; - using Status = TrafficLight::Status; - using Shape = TrafficLight::Shape; - using Bulb = TrafficLight::Bulb; - // clang-format off static_assert(Bulb(Color::green, Status::solid_on, Shape::circle ).hash() == 0b0000'0000'0000'0000'0000'0000'0000'0000); static_assert(Bulb(Color::yellow, Status::solid_on, Shape::circle ).hash() == 0b0000'0001'0000'0000'0000'0000'0000'0000); @@ -513,7 +502,13 @@ TEST(Bulb, Bulb) static_assert(Bulb(Color::green, Status::solid_on, Shape::lower_right).hash() == 0b0000'0000'0000'0000'0000'0101'0000'0010); static_assert(Bulb(Color::green, Status::solid_on, Shape::upper_right).hash() == 0b0000'0000'0000'0000'0000'0011'0000'0010); // clang-format on +} +/** + * @note Test basic functionality. Test Bulb comparisons with different configurations. + */ +TEST(Bulb, is) +{ { constexpr auto bulb = Bulb(Color::red, Status::flashing, Shape::circle); @@ -583,11 +578,6 @@ TEST(Bulb, Bulb) */ TEST(Bulb, make) { - using TrafficLight = traffic_simulator::TrafficLight; - using Color = TrafficLight::Color; - using Status = TrafficLight::Status; - using Shape = TrafficLight::Shape; - using Bulb = TrafficLight::Bulb; { constexpr auto bulb = Bulb(Color::red, Status::flashing, Shape::circle); @@ -657,8 +647,6 @@ TEST(Bulb, make) */ TEST(Bulb, make_wrong) { - using Bulb = traffic_simulator::TrafficLight::Bulb; - EXPECT_THROW(Bulb("red flashing wrong_shape"), common::SyntaxError); EXPECT_THROW(Bulb("red wrong_status circle"), common::SyntaxError); EXPECT_THROW(Bulb("wrong_color flashing circle"), common::SyntaxError); @@ -671,11 +659,6 @@ TEST(Bulb, make_wrong) */ TEST(Bulb, operator_TrafficLight) { - using Color = traffic_simulator::TrafficLight::Color; - using Status = traffic_simulator::TrafficLight::Status; - using Shape = traffic_simulator::TrafficLight::Shape; - using Bulb = traffic_simulator::TrafficLight::Bulb; - { constexpr auto bulb = Bulb(Color::red, Status::flashing, Shape::circle); std::ostringstream oss; @@ -747,11 +730,6 @@ class TrafficLightTest : public testing::Test */ TEST_F(TrafficLightTest, contains_colorStatusShape) { - using TrafficLight = traffic_simulator::TrafficLight; - using Color = TrafficLight::Color; - using Status = TrafficLight::Status; - using Shape = TrafficLight::Shape; - { auto traffic_light = TrafficLight(34802, map_manager); @@ -779,11 +757,6 @@ TEST_F(TrafficLightTest, contains_colorStatusShape) */ TEST_F(TrafficLightTest, set_valid) { - using TrafficLight = traffic_simulator::TrafficLight; - using Color = TrafficLight::Color; - using Status = TrafficLight::Status; - using Shape = TrafficLight::Shape; - auto traffic_light = TrafficLight(34802, map_manager); traffic_light.set("red flashing circle, green solidOn right"); From 09e53410e5ea006de49690985402cdacd3ff7077 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 19 Aug 2024 10:35:23 +0200 Subject: [PATCH 129/304] spellcheck --- .../test/src/traffic_lights/test_traffic_light.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp index 4401334baa9..6ab5ba9c6f9 100644 --- a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp +++ b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp @@ -33,7 +33,7 @@ int main(int argc, char ** argv) } /** - * @note Test object creation correcness. + * @note Test object creation correctness. */ TEST(Color, Color) { @@ -144,7 +144,7 @@ TEST(Color, make_wrong) } /** - * @note Test object creation correcness. + * @note Test object creation correctness. */ TEST(Status, Status) { @@ -236,7 +236,7 @@ TEST(Status, make_wrong) } /** - * @note Test object creation correcness. + * @note Test object creation correctness. */ TEST(Shape, Shape) { From 84c19dbc0baf33b2e21243325945c7c6f1e989c4 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 19 Aug 2024 18:03:58 +0900 Subject: [PATCH 130/304] refactor: use std::size_t instead of raw size_t Co-authored-by: Tatsuya Yamasaki --- simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp index b44bd1f08de..335138ad7f8 100644 --- a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp +++ b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp @@ -224,7 +224,7 @@ auto HdMapUtils::countLaneChanges( return std::nullopt; } else { std::pair lane_changes{0, 0}; - for (size_t i = 1; i < route.size(); ++i) { + for (std::size_t i = 1; i < route.size(); ++i) { const auto & previous = route[i - 1]; const auto & current = route[i]; From dfd841be274d989be2a1b11938ba5f6f7ab18c2a Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 19 Aug 2024 11:52:04 +0200 Subject: [PATCH 131/304] isIntersect2D_collinear --- .../test/src/polygon/test_line_segment.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 9ab3829d121..0cddb807aa7 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -227,6 +227,21 @@ TEST(LineSegment, isIntersect2DIdentical) EXPECT_TRUE(line.isIntersect2D(line)); } +/** + * @note Test function behavior with two disjoint, collinear lines. + */ + +TEST(LineSegment, isIntersect2D_collinear) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); + + EXPECT_FALSE(line.isIntersect2D( + math::geometry::LineSegment(makePoint(3.0, 5.0, 0.0), makePoint(5.0, 7.0, 0.0)))); + EXPECT_FALSE(line.isIntersect2D( + math::geometry::LineSegment(makePoint(-3.0, -1.0, 0.0), makePoint(-1.0, 1.0, 0.0)))); +} + /** * @note Test function behavior with a point on the line. */ From 338ba5ae714add024e92776e4c208a2f1c4a87c1 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 19 Aug 2024 15:16:55 +0200 Subject: [PATCH 132/304] remove empty line --- common/math/geometry/test/src/polygon/test_line_segment.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 0cddb807aa7..b6e7bec4f0a 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -230,7 +230,6 @@ TEST(LineSegment, isIntersect2DIdentical) /** * @note Test function behavior with two disjoint, collinear lines. */ - TEST(LineSegment, isIntersect2D_collinear) { const auto line = From e74ea14a970eff157307655847221fbb99a81407 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 19 Aug 2024 15:22:17 +0200 Subject: [PATCH 133/304] update testcase --- common/math/geometry/test/src/polygon/test_line_segment.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index b6e7bec4f0a..eac5222db07 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -238,7 +238,7 @@ TEST(LineSegment, isIntersect2D_collinear) EXPECT_FALSE(line.isIntersect2D( math::geometry::LineSegment(makePoint(3.0, 5.0, 0.0), makePoint(5.0, 7.0, 0.0)))); EXPECT_FALSE(line.isIntersect2D( - math::geometry::LineSegment(makePoint(-3.0, -1.0, 0.0), makePoint(-1.0, 1.0, 0.0)))); + math::geometry::LineSegment(makePoint(-3.0, -1.0, 0.0), makePoint(-2.0, 0.0, 0.0)))); } /** From 0306503fdf199349759182ef76f4d5e9d46d8811 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 20 Aug 2024 12:02:54 +0900 Subject: [PATCH 134/304] =?UTF-8?q?Split=20the=20string=20=E2=80=9C\nnpc?= =?UTF-8?q?=E2=80=9D=20into=20=E2=80=9C\n=E2=80=9D=20and=20=E2=80=9Cnpc?= =?UTF-8?q?=E2=80=9D.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: yamacir-kit --- .../include/random_test_runner/data_types.hpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/test_runner/random_test_runner/include/random_test_runner/data_types.hpp b/test_runner/random_test_runner/include/random_test_runner/data_types.hpp index b6dbf773b5a..1a63c8955fc 100644 --- a/test_runner/random_test_runner/include/random_test_runner/data_types.hpp +++ b/test_runner/random_test_runner/include/random_test_runner/data_types.hpp @@ -166,7 +166,8 @@ struct fmt::formatter fmt::format_to( ctx.out(), "ego_start_position: {} ego_goal_position: {} " - "ego_goal_pose: {}\nnpc_descriptions:", + "ego_goal_pose: {}\n" // + "npc_descriptions:", v.ego_start_position, v.ego_goal_position, v.ego_goal_pose); for (size_t idx = 0; idx < v.npcs_descriptions.size(); idx++) { fmt::format_to(ctx.out(), "[{}]: {}\n", idx, v.npcs_descriptions[idx]); From e3aeb8a64ac7b657ed38c6398f7a72e92afd0d1c Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 20 Aug 2024 12:43:28 +0900 Subject: [PATCH 135/304] Add a comment explaining the background of the hack Signed-off-by: yamacir-kit --- .../include/random_test_runner/data_types.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/random_test_runner/include/random_test_runner/data_types.hpp b/test_runner/random_test_runner/include/random_test_runner/data_types.hpp index 1a63c8955fc..855b7468b5a 100644 --- a/test_runner/random_test_runner/include/random_test_runner/data_types.hpp +++ b/test_runner/random_test_runner/include/random_test_runner/data_types.hpp @@ -166,7 +166,7 @@ struct fmt::formatter fmt::format_to( ctx.out(), "ego_start_position: {} ego_goal_position: {} " - "ego_goal_pose: {}\n" // + "ego_goal_pose: {}\n" // The spell checker detects the string "\nnpc" as an illegal word "nnpc", so it is necessary to split the string like this. "npc_descriptions:", v.ego_start_position, v.ego_goal_position, v.ego_goal_pose); for (size_t idx = 0; idx < v.npcs_descriptions.size(); idx++) { From 6057c4487353b1043862813b528b5f21b7215f58 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 20 Aug 2024 12:48:35 +0900 Subject: [PATCH 136/304] Lipsticks Signed-off-by: yamacir-kit --- .../include/random_test_runner/data_types.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_runner/random_test_runner/include/random_test_runner/data_types.hpp b/test_runner/random_test_runner/include/random_test_runner/data_types.hpp index 855b7468b5a..e0c168c43dc 100644 --- a/test_runner/random_test_runner/include/random_test_runner/data_types.hpp +++ b/test_runner/random_test_runner/include/random_test_runner/data_types.hpp @@ -166,7 +166,7 @@ struct fmt::formatter fmt::format_to( ctx.out(), "ego_start_position: {} ego_goal_position: {} " - "ego_goal_pose: {}\n" // The spell checker detects the string "\nnpc" as an illegal word "nnpc", so it is necessary to split the string like this. + "ego_goal_pose: {}\n" // The spell checker detects the string as an illegal word, so it is necessary to split the string like this. "npc_descriptions:", v.ego_start_position, v.ego_goal_position, v.ego_goal_pose); for (size_t idx = 0; idx < v.npcs_descriptions.size(); idx++) { From 34f2a1c7e4351de02131a41519d3f48e86594286 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Tue, 20 Aug 2024 06:10:28 +0000 Subject: [PATCH 137/304] Bump version of scenario_simulator_v2 from version 3.4.3 to version 3.4.4 --- common/math/arithmetic/CHANGELOG.rst | 3 +++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 3 +++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 3 +++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 3 +++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 3 +++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 3 +++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 3 +++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 3 +++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 3 +++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 3 +++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 3 +++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 3 +++ .../openscenario_interpreter_example/package.xml | 2 +- openscenario/openscenario_interpreter_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 3 +++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 3 +++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 3 +++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../real_time_factor_control_rviz_plugin/CHANGELOG.rst | 3 +++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 3 +++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 3 +++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 3 +++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 3 +++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 3 +++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 3 +++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 3 +++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 9 +++++++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 3 +++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 122 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 1eeb23b4df2..5c7e462b720 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 29d6d08c935..0da099eb60b 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.4.3 + 3.4.4 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 954697a1319..f0d209adba8 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 0dea6c489d9..92df7e330b0 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.4.3 + 3.4.4 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index ab65d5a5863..487470d36fb 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 180c3dc2d29..1197e52944b 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.4.3 + 3.4.4 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 563363b4b19..c592d190f77 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 32c55fc3f56..833f982f813 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.4.3 + 3.4.4 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 c9006e3918b..e9b647c3acf 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index b013d229f3b..cf7184c3d2e 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.4.3 + 3.4.4 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index a58fe96b161..3db8bd4f0a8 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 36735099f96..de2a2e7d693 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.4.3 + 3.4.4 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 b8bbff4cab1..eeef6ad7d37 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index f663d103f1a..c73699f1a7d 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.4.3 + 3.4.4 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 2fed4769185..de0e5acea78 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index ebbc0089807..18cb1638c0b 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.4.3 + 3.4.4 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 d0f9daf2610..772f73d5cc5 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,9 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index f6a38767c1f..39a067adc53 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.4.3 + 3.4.4 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 89b11d52e29..e0e8b07fc54 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ * Merge pull request `#1339 `_ from tier4/fix/ament_auto_package diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index a19b7761245..db4ef6602f5 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.4.3 + 3.4.4 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 23882ec8753..d97c2985fcf 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 9e2d1db51f5..77d42cad597 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.4.3 + 3.4.4 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 1634255e7ce..b337aae118f 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,9 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index b3395f2d1d1..50a7d6efcba 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.4.3 + 3.4.4 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 60512ecdf9e..773a7ad458e 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 448f23702be..a0c094b0681 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.4.3 + 3.4.4 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 575b7303d34..d0f1db72106 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index a0e4a546396..eec031739a3 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.4.3 + 3.4.4 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 788c4453052..5ecc01bd933 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 38413a3438f..de8f7beb199 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.4.3 + 3.4.4 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 b2ed33a0052..8acb108dbeb 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index eb63629f883..55e5693b836 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.4.3 + 3.4.4 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 95f39c1d2ad..9c401ddf272 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 3f817de2a6e..c4af7f97493 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.4.3 + 3.4.4 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 78a9c047648..8bea91d21a1 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,9 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 68cc76df948..5632a8479df 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.4.3 + 3.4.4 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 abf9e183b17..abbe25a0c99 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 88b06431162..3a4939f91e9 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.4.3 + 3.4.4 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 23e52eddd1d..e4224082b90 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 +21,9 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ 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 6574e60f8e7..23d385493df 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 - 3.4.3 + 3.4.4 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 7bcb0e54782..bb67c6847ad 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index e755afeabf1..38ae9270ca5 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.4.3 + 3.4.4 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 450e562ab03..dc2d5080d96 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 45c763805bd..b9050d79f14 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.4.3 + 3.4.4 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 cb54d773c58..cb071e4f97c 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 710bce1d396..fcbb05bccd6 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.4.3 + 3.4.4 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 90542cbc3b5..6a0f38d0bd2 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 4447456cbeb..36f7759fe79 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.4.3 + 3.4.4 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index a04bab28d96..a6fc4785e02 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index a14ee2e6843..74e8e8039d1 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.4.3 + 3.4.4 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 47c587abe52..567fd4a7619 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 87a2384992a..7ecd9902c03 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.4.3 + 3.4.4 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index cbe4e3fa8fa..6101cee915d 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index c0c9a3d8074..517e478699b 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.4.3 + 3.4.4 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 9a783f89d38..d025b37fbda 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ +* Merge pull request `#1345 `_ from tier4/newline-character-literal + Avoid false detection of newline character literals by spell check. +* Lipsticks +* Add a comment explaining the background of the hack +* Split the string “\nnpc” into “\n” and “npc”. +* Contributors: Masaya Kataoka, yamacir-kit + 3.4.3 (2024-08-19) ------------------ diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 693c71ee434..4f773aebdeb 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.4.3 + 3.4.4 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 87394569b74..c4c9a01a447 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,9 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.4.4 (2024-08-20) +------------------ + 3.4.3 (2024-08-19) ------------------ diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 64838e3fc0d..673f48e4723 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.4.3 + 3.4.4 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 9e8415fd99a01b36f1fedc715425beb4c738e21c Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 20 Aug 2024 12:09:40 +0200 Subject: [PATCH 138/304] 1344 fix initial solution --- .../geometry/src/polygon/line_segment.cpp | 41 +++++++------------ 1 file changed, 14 insertions(+), 27 deletions(-) diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 5238a24b307..c415ba23bc6 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -120,7 +120,17 @@ auto LineSegment::getPose(const double s, const bool denormalize_s, const bool f */ auto LineSegment::isIntersect2D(const geometry_msgs::msg::Point & point) const -> bool { - return getIntersection2DSValue(point, true) ? true : false; + const bool x_outside = ((point.x - start_point.x) * (end_point.x - point.x) < 0.0); + const bool y_outside = ((point.y - start_point.y) * (end_point.y - point.y) < 0.0); + if (x_outside || y_outside) { + return false; + } + const double dx = end_point.x - start_point.x; + const double dy = end_point.y - start_point.y; + const double squared_length = dx * dx + dy * dy; + const double cross_product = (point.y - start_point.y) * dx - (point.x - start_point.x) * dy; + constexpr double tolerance = std::numeric_limits::epsilon(); + return cross_product * cross_product <= squared_length * tolerance * tolerance; } auto LineSegment::getSValue( @@ -170,32 +180,9 @@ auto LineSegment::isIntersect2D(const LineSegment & l0) const -> bool auto LineSegment::getIntersection2DSValue( 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); + if (not isIntersect2D(point)) return std::nullopt; + const double distance = std::hypot(point.x - start_point.x, point.y - start_point.y); + return denormalize_s ? std::make_optional(distance) : std::make_optional(distance / getLength()); } /** From dd33ae3e24f66391aabc830fcb88447eba97c221 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 20 Aug 2024 15:46:21 +0200 Subject: [PATCH 139/304] isIntesect2D initial solution --- .../src/intersection/intersection.cpp | 52 +++++++++++++------ .../geometry/src/polygon/line_segment.cpp | 18 +------ 2 files changed, 39 insertions(+), 31 deletions(-) diff --git a/common/math/geometry/src/intersection/intersection.cpp b/common/math/geometry/src/intersection/intersection.cpp index 07a32df0b9a..0c8e83571a6 100644 --- a/common/math/geometry/src/intersection/intersection.cpp +++ b/common/math/geometry/src/intersection/intersection.cpp @@ -21,22 +21,44 @@ 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; + using Point = geometry_msgs::msg::Point; + + const auto p0 = line0.start_point, q0 = line0.end_point; + const auto p1 = line1.start_point, q1 = line1.end_point; + + constexpr auto within_bounding_box = + [](const Point & start, const Point & end, const Point & to_check) -> bool { + const bool x_inside = ((to_check.x - start.x) * (end.x - to_check.x) >= 0.0); + const bool y_inside = ((to_check.y - start.y) * (end.y - to_check.y) >= 0.0); + return x_inside && y_inside; + }; + + constexpr auto orientation = + [](const Point & start, const Point & end, const Point & to_check) -> double { + return (end.y - start.y) * (to_check.x - end.x) - (end.x - start.x) * (to_check.y - end.y); + }; + + constexpr auto sign = [](const double x) -> int { + constexpr double tolerance = 1.0e-10; + if (x > +tolerance) return +1; + if (x < -tolerance) return -1; + return 0; + }; + + const int ori_p0 = sign(orientation(p1, q1, p0)); + const int ori_q0 = sign(orientation(p1, q1, q0)); + const int ori_p1 = sign(orientation(p0, q0, p1)); + const int ori_q1 = sign(orientation(p0, q0, q1)); + + // Special case + // If the lines are collinear; they intersect if and only if their bounding boxes overlap + if (ori_p1 == 0 && ori_q1 == 0 && ori_p0 == 0 && ori_q0 == 0) { + return within_bounding_box(p0, q0, p1) || within_bounding_box(p0, q0, p1) || + within_bounding_box(p1, q1, p0) || within_bounding_box(p1, q1, p0); } - return true; + + // General case + return ori_p1 != ori_q1 && ori_p0 != ori_q0; } bool isIntersect2D(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..89fff5cf5e2 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 @@ -144,22 +145,7 @@ auto LineSegment::getSValue( */ auto LineSegment::isIntersect2D(const LineSegment & l0) 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, l0); } /** From ed4731a8327fcf695f12e88c68bd48f33a5778d5 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 21 Aug 2024 10:24:16 +0900 Subject: [PATCH 140/304] modify tag Signed-off-by: Masaya Kataoka --- .github/workflows/Docekr.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docekr.yaml index 18ab80fa928..8609da5fffe 100644 --- a/.github/workflows/Docekr.yaml +++ b/.github/workflows/Docekr.yaml @@ -12,8 +12,6 @@ on: - "!pyproject.toml" - "!poetry.lock" release: - types: [published] - jobs: push_docker: From c7d526c4142dee667f86e65a072f56b18e113802 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 21 Aug 2024 11:40:53 +0900 Subject: [PATCH 141/304] change trigger Signed-off-by: Masaya Kataoka --- .github/workflows/Docekr.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docekr.yaml index 8609da5fffe..28b543cb6ed 100644 --- a/.github/workflows/Docekr.yaml +++ b/.github/workflows/Docekr.yaml @@ -6,7 +6,6 @@ on: - "!docs/**" - "!README.md" - "!CONTRIBUTING.md" - - "!.github/**" - ".github/workflows/Docker.yaml" - "!mkdocs.yml" - "!pyproject.toml" From 33cb1266136bd81dd7173c8621619371d556d3d3 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Wed, 21 Aug 2024 07:06:25 +0000 Subject: [PATCH 142/304] Bump version of scenario_simulator_v2 from version 3.4.4 to version 3.5.0 --- common/math/arithmetic/CHANGELOG.rst | 13 +++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 13 +++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 13 +++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 13 +++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 13 +++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 13 +++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 13 +++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 13 +++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 13 +++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 13 +++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 13 +++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 52 +++++++++++++++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 13 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 13 +++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 13 +++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 13 +++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 13 +++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 13 +++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 13 +++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 13 +++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 13 +++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 13 +++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 13 +++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 14 +++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 14 +++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 21 ++++++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 13 +++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 13 +++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 19 +++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 461 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 5c7e462b720..64c3bbb98d9 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 0da099eb60b..dc0b9148053 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.4.4 + 3.5.0 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 f0d209adba8..62b75383b52 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 92df7e330b0..7dfdbe1d948 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.4.4 + 3.5.0 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 487470d36fb..54850734521 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 1197e52944b..283b46d76c3 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.4.4 + 3.5.0 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 c592d190f77..054e9449524 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 833f982f813..cf00d05b43f 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.4.4 + 3.5.0 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 e9b647c3acf..65c1e11f5a0 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index cf7184c3d2e..d6a76edb2b3 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.4.4 + 3.5.0 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 3db8bd4f0a8..c7c1a86aa2e 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/external/concealer/package.xml b/external/concealer/package.xml index de2a2e7d693..7e79e340797 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.4.4 + 3.5.0 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 eeef6ad7d37..a3cbd42d32f 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,19 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index c73699f1a7d..3b0833adddb 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.4.4 + 3.5.0 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 de0e5acea78..4ac41d7f364 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 18cb1638c0b..0bdc0dcd63e 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.4.4 + 3.5.0 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 772f73d5cc5..fbb3748f1d9 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,19 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 39a067adc53..fff5d6ae9c8 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.4.4 + 3.5.0 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 e0e8b07fc54..cf545f94612 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index db4ef6602f5..4f4b0ed260a 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.4.4 + 3.5.0 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 d97c2985fcf..9f522ae7066 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 77d42cad597..dc9ed56c35f 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.4.4 + 3.5.0 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 b337aae118f..60a133f014f 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,58 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge pull request `#1316 `_ from tier4/relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* fix: treat added entity only in RelativeClearanceCondition +* refactor: delete RelativeClearanceCondition::getRelativeLanePosition +* refactor: use exception when errors are occurred in SimulatorCore::evaluateLateralRelativeLanes +* refactor: use std::optional for optional attribute in RelativeLaneRange +* feat: support EntitySelection in RelativeClearanceCondition +* refactor: use boost::math::constants::half_pi instead of 0.5 * boost::math::constants::pi +* fix: update target entities of RelativeClearanceCondition in every frame +* refactor: use boost::math::constants::pi() instead of M_PI +* fix: implement Integer::min/max instead of Integer::infinity +* Merge branch 'master' into relative-clearance-condition +* feat: improve description output of RelativeClearanceCondition +* Merge branch 'master' into relative-clearance-condition +* refactor: format comment-outs +* Merge branch 'master' into relative-clearance-condition +* refactor: clean up includes in relative_lane_range.hpp +* Fix RelativeLaneRange to use default values in the specification +* Add Integer::infinity function +* apply linter +* Fix copy bugs in RelativeClearanceCondition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Implement switching by relative heading of triggering_entity in RelativeClearanceCondition +* fix condition logic of RelativeClearanceCondition +* Correct initialization of RelativeClearanceCondition::entity_refs along the standard +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Revert "Move entity existence check into `distance` from speceialized `distance`" + This reverts commit 727d57dc93f29badb41661fcb8543c9ce7840392. +* Revert "Update `RelativeDistanceCondition::distance` to static member function" + This reverts commit 86f489f0 +* Add temporary implementation of RelativeClearanceCondition::evaluate function +* Implement RelativeClearanceCondition::getRelativeLanePosition function +* Implement SimulatorCore::evaluateLateralRelativeLanes function +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* refactor: import RelativeDistanceCondition updates from feature/time-to-collision-condition branch + Co-authored-by: yamacir-kit +* Merge branch 'master' into relative-clearance-condition +* Update `RelativeDistanceCondition::distance` to static member function +* Move entity existence check into `distance` from speceialized `distance` +* fix: replace freespace with freeSpace in RelativeClearanceCondition +* chore: update OpenSCENARIO version of EntityCondition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* feat(openscenario_interpreter): add RelativeClearanceCondition(empty implementation) +* feat(openscenario_interpreter): add RelativeLaneRange +* Revert "fix(RelativeDistanceCondition): Fixed a bug where RelativeDistance showed negative values" + This reverts commit 84c8b0c101b8e680ad6029d8702387e5495e2646. +* fix(RelativeDistanceCondition): Fixed a bug where RelativeDistance showed negative values +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit + 3.4.4 (2024-08-20) ------------------ diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 50a7d6efcba..d89bf384717 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.4.4 + 3.5.0 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 773a7ad458e..65d65074842 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index a0c094b0681..12da0f14943 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.4.4 + 3.5.0 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 d0f1db72106..afb80f1e887 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index eec031739a3..0e5eae005dd 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.4.4 + 3.5.0 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 5ecc01bd933..f87d7ff9a93 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index de8f7beb199..da55adb6e8c 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.4.4 + 3.5.0 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 8acb108dbeb..6cf120d924c 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 55e5693b836..2e0d1f8fd00 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.4.4 + 3.5.0 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 9c401ddf272..14ecb74f6de 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,19 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index c4af7f97493..94998e36263 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.4.4 + 3.5.0 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 8bea91d21a1..1024f4e94e1 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,19 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 5632a8479df..fd3beac056c 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.4.4 + 3.5.0 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 abbe25a0c99..848d948bf39 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 3a4939f91e9..6f77a5b65ea 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.4.4 + 3.5.0 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 e4224082b90..e96bed42787 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 +21,19 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ 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 23d385493df..5e5e9b4267e 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 - 3.4.4 + 3.5.0 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 bb67c6847ad..110e106a1f6 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 38ae9270ca5..a6d95d78fad 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.4.4 + 3.5.0 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 dc2d5080d96..46bb38e4585 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index b9050d79f14..ccb25126242 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.4.4 + 3.5.0 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 cb071e4f97c..33aa50daaf7 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index fcbb05bccd6..a755ce78ec0 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.4.4 + 3.5.0 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 6a0f38d0bd2..0f4b53a7f56 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 36f7759fe79..e589b75cda2 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.4.4 + 3.5.0 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index a6fc4785e02..8f53e81a059 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,20 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 74e8e8039d1..7eac6ccca06 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.4.4 + 3.5.0 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 567fd4a7619..0b77efa5042 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,27 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge pull request `#1316 `_ from tier4/relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* refactor: use std::size_t instead of raw size_t + Co-authored-by: Tatsuya Yamasaki +* Merge branch 'master' into relative-clearance-condition +* refactor: use std::find instead of std::find_if +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* fix tests for HdMapUtils::countLaneChanges +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Implement HdMapUtils::countLaneChanges +* Implement HdMapUtils::countLaneChangesAlongRoute +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 7ecd9902c03..540e9d980fc 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.4.4 + 3.5.0 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 6101cee915d..2a75d18c2b9 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 517e478699b..a757a7725c8 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.4.4 + 3.5.0 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 d025b37fbda..5fc9292f0c0 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,19 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ * Merge pull request `#1345 `_ from tier4/newline-character-literal diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 4f773aebdeb..d0dbd53a058 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.4.4 + 3.5.0 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 c4c9a01a447..33ccb31848d 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,25 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.0 (2024-08-21) +------------------ +* Merge pull request `#1316 `_ from tier4/relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* feat: add test scenarios for RelativeClearanceCondition to CI test +* Merge branch 'master' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Add ByEntityCondition.EntityCondition.RelativeClearanceCondition-back.yaml +* Update ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml to be a better test +* Update ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml to check RelativeClearanceCondition in more detail +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Merge remote-tracking branch 'origin/relative-clearance-condition' into relative-clearance-condition +* Merge branch 'master' into relative-clearance-condition +* feat: add ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml +* Merge remote-tracking branch 'origin/master' into relative-clearance-condition +* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki + 3.4.4 (2024-08-20) ------------------ diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 673f48e4723..0883d2fd03f 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.4.4 + 3.5.0 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 0456a5203c9be905cee7c1bcebabebdca8da331e Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 21 Aug 2024 17:22:21 +0900 Subject: [PATCH 143/304] chore: add corner case to fix into a scenario --- ...yCondition.DistanceCondition.Shortest.yaml | 29 +++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.DistanceCondition.Shortest.yaml b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.DistanceCondition.Shortest.yaml index 712febf2313..68d0bea8762 100644 --- a/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.DistanceCondition.Shortest.yaml +++ b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.DistanceCondition.Shortest.yaml @@ -92,6 +92,17 @@ OpenSCENARIO: offset: 0 Orientation: *DEFAULT_ORIENTATION - LongitudinalAction: *SPEED_ACTION_ZERO + - entityRef: car_4 + PrivateAction: + - TeleportAction: + Position: &POSITION_4 + LanePosition: + roadId: "" + laneId: 34795 + s: 5 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + - LongitudinalAction: *SPEED_ACTION_ZERO Story: - name: story Act: @@ -582,6 +593,24 @@ OpenSCENARIO: routingAlgorithm: shortest rule: notEqualTo value: 1.262040583529198123358128214022 + - Condition: + - name: "corner case fixed in #1348" + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: all + EntityRef: + - entityRef: car_1 + EntityCondition: + RelativeDistanceCondition: + coordinateSystem: lane + entityRef: car_4 + freespace: false + relativeDistanceType: longitudinal + routingAlgorithm: shortest + rule: notEqualTo + value: 54.18867466433655977198213804513216018676757812500000 StartTrigger: ConditionGroup: - Condition: From 74695139820b14d5e341d8d5748d2dbcf4f4aaa9 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 21 Aug 2024 17:24:36 +0900 Subject: [PATCH 144/304] fix: longitudinal calculation with lane-change --- simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp index 36842da9b7a..9ffa6c81030 100644 --- a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp +++ b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp @@ -1560,9 +1560,9 @@ auto HdMapUtils::getLongitudinalDistance( /// @note "first lanelet before the lane change" case if (route[i] == from.lanelet_id) { - distance += getLaneletLength(route[i + 1]) - from.s; + distance -= from.s; if (route[i + 1] == to.lanelet_id) { - distance -= getLaneletLength(route[i + 1]) - to.s; + distance += to.s; return distance; } } From fe29d6b2d0af6bfb92e34ad66dc16007aafe3f8d Mon Sep 17 00:00:00 2001 From: robomic Date: Wed, 21 Aug 2024 15:22:45 +0200 Subject: [PATCH 145/304] combine 2 PR, apply review requests --- .../include/geometry/polygon/line_segment.hpp | 6 +- .../src/intersection/intersection.cpp | 49 +++------ .../geometry/src/polygon/line_segment.cpp | 100 ++++++++++++------ 3 files changed, 89 insertions(+), 66 deletions(-) diff --git a/common/math/geometry/include/geometry/polygon/line_segment.hpp b/common/math/geometry/include/geometry/polygon/line_segment.hpp index ec17419f31d..1da41a504e4 100644 --- a/common/math/geometry/include/geometry/polygon/line_segment.hpp +++ b/common/math/geometry/include/geometry/polygon/line_segment.hpp @@ -43,7 +43,7 @@ class LineSegment 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 isIntersect2D(const LineSegment & line) const -> bool; auto getIntersection2DSValue( const geometry_msgs::msg::Point & point, const bool denormalize_s = false) const -> std::optional; @@ -66,8 +66,12 @@ class LineSegment auto getSquaredDistanceVector( const geometry_msgs::msg::Point & point, const double s, const bool denormalize_s = false) const -> geometry_msgs::msg::Vector3; + auto isInBounds2D(const geometry_msgs::msg::Point & point) const -> bool; + auto relativePointPosition2D(const geometry_msgs::msg::Point & point) const -> int; private: + const double length; + const double length2D; auto denormalize(const std::optional & s, const bool throw_error_on_out_of_range = true) const -> std::optional; auto denormalize(const double s) const -> double; diff --git a/common/math/geometry/src/intersection/intersection.cpp b/common/math/geometry/src/intersection/intersection.cpp index 0c8e83571a6..c2a7665eac3 100644 --- a/common/math/geometry/src/intersection/intersection.cpp +++ b/common/math/geometry/src/intersection/intersection.cpp @@ -21,44 +21,23 @@ namespace geometry { bool isIntersect2D(const LineSegment & line0, const LineSegment & line1) { - using Point = geometry_msgs::msg::Point; + const auto &p0 = line0.start_point, &q0 = line0.end_point; + const auto &p1 = line1.start_point, &q1 = line1.end_point; - 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); - constexpr auto within_bounding_box = - [](const Point & start, const Point & end, const Point & to_check) -> bool { - const bool x_inside = ((to_check.x - start.x) * (end.x - to_check.x) >= 0.0); - const bool y_inside = ((to_check.y - start.y) * (end.y - to_check.y) >= 0.0); - return x_inside && y_inside; - }; - - constexpr auto orientation = - [](const Point & start, const Point & end, const Point & to_check) -> double { - return (end.y - start.y) * (to_check.x - end.x) - (end.x - start.x) * (to_check.y - end.y); - }; - - constexpr auto sign = [](const double x) -> int { - constexpr double tolerance = 1.0e-10; - if (x > +tolerance) return +1; - if (x < -tolerance) return -1; - return 0; - }; - - const int ori_p0 = sign(orientation(p1, q1, p0)); - const int ori_q0 = sign(orientation(p1, q1, q0)); - const int ori_p1 = sign(orientation(p0, q0, p1)); - const int ori_q1 = sign(orientation(p0, q0, q1)); - - // Special case - // If the lines are collinear; they intersect if and only if their bounding boxes overlap - if (ori_p1 == 0 && ori_q1 == 0 && ori_p0 == 0 && ori_q0 == 0) { - return within_bounding_box(p0, q0, p1) || within_bounding_box(p0, q0, p1) || - within_bounding_box(p1, q1, p0) || within_bounding_box(p1, q1, p0); + 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; } - - // General case - return ori_p1 != ori_q1 && ori_p0 != ori_q0; } bool isIntersect2D(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 80388c6913e..a0a16d979f9 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -29,14 +29,18 @@ 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), + length(hypot(end_point, start_point)), + length2D(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 { +: 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) { @@ -50,7 +54,9 @@ LineSegment::LineSegment( ret.y = start_point.y + vec.y / vec_size * length; ret.z = start_point.z + vec.z / vec_size * length; return ret; - }()) + }()), + length(hypot(end_point, start_point)), + length2D(std::hypot(end_point.x - start_point.x, end_point.y - start_point.y)) { } @@ -117,7 +123,7 @@ auto LineSegment::getPose(const double s, const bool denormalize_s, const bool f * @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 { @@ -126,12 +132,10 @@ auto LineSegment::isIntersect2D(const geometry_msgs::msg::Point & point) const - if (x_outside || y_outside) { return false; } - const double dx = end_point.x - start_point.x; - const double dy = end_point.y - start_point.y; - const double squared_length = dx * dx + dy * dy; - const double cross_product = (point.y - start_point.y) * dx - (point.x - start_point.x) * dy; + const double cross_product = (point.y - start_point.y) * (end_point.x - start_point.x) - + (point.x - start_point.x) * (end_point.y - start_point.y); constexpr double tolerance = std::numeric_limits::epsilon(); - return cross_product * cross_product <= squared_length * tolerance * tolerance; + return std::abs(cross_product) <= get2DLength() * tolerance; } auto LineSegment::getSValue( @@ -149,13 +153,13 @@ auto LineSegment::getSValue( /** * @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 { - return math::geometry::isIntersect2D(*this, l0); + return math::geometry::isIntersect2D(*this, line); } /** @@ -166,9 +170,13 @@ auto LineSegment::isIntersect2D(const LineSegment & l0) const -> bool auto LineSegment::getIntersection2DSValue( const geometry_msgs::msg::Point & point, const bool denormalize_s) const -> std::optional { - if (not isIntersect2D(point)) return std::nullopt; - const double distance = std::hypot(point.x - start_point.x, point.y - start_point.y); - return denormalize_s ? std::make_optional(distance) : std::make_optional(distance / getLength()); + if (isIntersect2D(point)) { + const double distance = std::hypot(point.x - start_point.x, point.y - start_point.y); + return denormalize_s ? std::make_optional(distance) + : std::make_optional(distance / get2DLength()); + } else { + return std::nullopt; + } } /** @@ -224,13 +232,10 @@ auto LineSegment::getIntersection2D(const LineSegment & line) const 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 geometry_msgs::build() + .x(end_point.x - start_point.x) + .y(end_point.y - start_point.y) + .z(end_point.z - start_point.z); } /** @@ -244,7 +249,7 @@ auto LineSegment::getNormalVector() const -> geometry_msgs::msg::Vector3 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); + .z(0.0); } auto LineSegment::get2DVector() const -> geometry_msgs::msg::Vector3 @@ -252,15 +257,12 @@ auto LineSegment::get2DVector() const -> geometry_msgs::msg::Vector3 return geometry_msgs::build() .x(end_point.x - start_point.x) .y(end_point.y - start_point.y) - .z(0); + .z(0.0); } -auto LineSegment::get2DLength() const -> double -{ - return std::hypot(end_point.x - start_point.x, end_point.y - start_point.y); -} +auto LineSegment::get2DLength() const -> double { return length2D; } -auto LineSegment::getLength() const -> double { return hypot(end_point, start_point); } +auto LineSegment::getLength() const -> double { return length; } auto LineSegment::getSlope() const -> double { @@ -359,5 +361,43 @@ 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 = (end_point.y - start_point.y) * (point.x - end_point.x) - + (end_point.x - start_point.x) * (point.y - end_point.y); + return static_cast(determinant > tolerance) - static_cast(determinant < -tolerance); +} + } // namespace geometry } // namespace math From 05376cbc974d53566dff51e0bc12dd93edaa330b Mon Sep 17 00:00:00 2001 From: robomic Date: Wed, 21 Aug 2024 15:42:15 +0200 Subject: [PATCH 146/304] use isInBounds function --- common/math/geometry/src/polygon/line_segment.cpp | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index a0a16d979f9..9b0c7857445 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -127,15 +127,14 @@ auto LineSegment::getPose(const double s, const bool denormalize_s, const bool f */ auto LineSegment::isIntersect2D(const geometry_msgs::msg::Point & point) const -> bool { - const bool x_outside = ((point.x - start_point.x) * (end_point.x - point.x) < 0.0); - const bool y_outside = ((point.y - start_point.y) * (end_point.y - point.y) < 0.0); - if (x_outside || y_outside) { + if (isInBounds2D(point)) { + const double cross_product = (point.y - start_point.y) * (end_point.x - start_point.x) - + (point.x - start_point.x) * (end_point.y - start_point.y); + constexpr double tolerance = std::numeric_limits::epsilon(); + return std::abs(cross_product) <= get2DLength() * tolerance; + } else { return false; } - const double cross_product = (point.y - start_point.y) * (end_point.x - start_point.x) - - (point.x - start_point.x) * (end_point.y - start_point.y); - constexpr double tolerance = std::numeric_limits::epsilon(); - return std::abs(cross_product) <= get2DLength() * tolerance; } auto LineSegment::getSValue( From 8b508a9c99b4b2cf48cf4c3c2ef3bcec09f0efb7 Mon Sep 17 00:00:00 2001 From: robomic Date: Wed, 21 Aug 2024 16:29:55 +0200 Subject: [PATCH 147/304] vector fields for LineSegment class, cleanup --- .../include/geometry/polygon/line_segment.hpp | 4 +- .../geometry/src/polygon/line_segment.cpp | 63 ++++++++----------- 2 files changed, 29 insertions(+), 38 deletions(-) diff --git a/common/math/geometry/include/geometry/polygon/line_segment.hpp b/common/math/geometry/include/geometry/polygon/line_segment.hpp index 1da41a504e4..3a424c3e315 100644 --- a/common/math/geometry/include/geometry/polygon/line_segment.hpp +++ b/common/math/geometry/include/geometry/polygon/line_segment.hpp @@ -71,7 +71,9 @@ class LineSegment private: const double length; - const double length2D; + const double length_2d; + const geometry_msgs::msg::Vector3 vector; + const geometry_msgs::msg::Vector3 vector_2d; auto denormalize(const std::optional & s, const bool throw_error_on_out_of_range = true) const -> std::optional; auto denormalize(const double s) const -> double; diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 9b0c7857445..6c11f0716f9 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -32,16 +32,22 @@ LineSegment::LineSegment( : start_point(start_point), end_point(end_point), length(hypot(end_point, start_point)), - length2D(std::hypot(end_point.x - start_point.x, end_point.y - start_point.y)) + length_2d(std::hypot(end_point.x - start_point.x, end_point.y - start_point.y)), + 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)) { } 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; + const double length) +: LineSegment::LineSegment(start_point, [&]() -> geometry_msgs::msg::Point { double vec_size = std::hypot(vec.x, vec.y); if (vec_size == 0.0) { THROW_SIMULATION_ERROR( @@ -50,13 +56,11 @@ LineSegment::LineSegment( "This message is not originally intended to be displayed, if you see it, please " "contact the developer of traffic_simulator."); } - 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; - }()), - length(hypot(end_point, start_point)), - length2D(std::hypot(end_point.x - start_point.x, end_point.y - start_point.y)) + 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); + }()) { } @@ -74,8 +78,8 @@ auto LineSegment::getPoint(const double s, const bool denormalize_s) const const double s_normalized = denormalize_s ? s / getLength() : s; if (0 <= s_normalized && s_normalized <= 1) { 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) + .x(start_point.x + get2DVector().x * s_normalized) + .y(start_point.y + get2DVector().y * s_normalized) .z(start_point.z + (end_point.z - start_point.z) * s_normalized); } if (denormalize_s) { @@ -128,8 +132,8 @@ auto LineSegment::getPose(const double s, const bool denormalize_s, const bool f auto LineSegment::isIntersect2D(const geometry_msgs::msg::Point & point) const -> bool { if (isInBounds2D(point)) { - const double cross_product = (point.y - start_point.y) * (end_point.x - start_point.x) - - (point.x - start_point.x) * (end_point.y - start_point.y); + const double cross_product = + (point.y - start_point.y) * get2DVector().x - (point.x - start_point.x) * get2DVector().y; constexpr double tolerance = std::numeric_limits::epsilon(); return std::abs(cross_product) <= get2DLength() * tolerance; } else { @@ -229,13 +233,7 @@ auto LineSegment::getIntersection2D(const LineSegment & line) const : std::optional(); } -auto LineSegment::getVector() const -> geometry_msgs::msg::Vector3 -{ - return geometry_msgs::build() - .x(end_point.x - start_point.x) - .y(end_point.y - start_point.y) - .z(end_point.z - start_point.z); -} +auto LineSegment::getVector() const -> geometry_msgs::msg::Vector3 { return vector; } /** * @brief Get normal vector of the line segment. @@ -251,22 +249,13 @@ auto LineSegment::getNormalVector() const -> geometry_msgs::msg::Vector3 .z(0.0); } -auto LineSegment::get2DVector() const -> geometry_msgs::msg::Vector3 -{ - return geometry_msgs::build() - .x(end_point.x - start_point.x) - .y(end_point.y - start_point.y) - .z(0.0); -} +auto LineSegment::get2DVector() const -> geometry_msgs::msg::Vector3 { return vector_2d; } -auto LineSegment::get2DLength() const -> double { return length2D; } +auto LineSegment::get2DLength() const -> double { return length_2d; } auto LineSegment::getLength() const -> double { return length; } -auto LineSegment::getSlope() const -> double -{ - return (end_point.y - start_point.y) / (end_point.x - start_point.x); -} +auto LineSegment::getSlope() const -> double { return get2DVector().y / get2DVector().x; } /** * @brief Get squared distance (Square of euclidean distance) between specified 3D point and specified 3D point on line segment in 2D. (x,y) @@ -393,8 +382,8 @@ auto LineSegment::isInBounds2D(const geometry_msgs::msg::Point & point) const -> auto LineSegment::relativePointPosition2D(const geometry_msgs::msg::Point & point) const -> int { constexpr double tolerance = std::numeric_limits::epsilon(); - const double determinant = (end_point.y - start_point.y) * (point.x - end_point.x) - - (end_point.x - start_point.x) * (point.y - end_point.y); + const double determinant = + get2DVector().y * (point.x - end_point.x) - get2DVector().x * (point.y - end_point.y); return static_cast(determinant > tolerance) - static_cast(determinant < -tolerance); } From a2d84a63e5ebde24bb287c96f3b9ea257d17037a Mon Sep 17 00:00:00 2001 From: robomic Date: Wed, 21 Aug 2024 17:02:12 +0200 Subject: [PATCH 148/304] return const& and remove implicit conversions --- .../include/geometry/polygon/line_segment.hpp | 10 +++--- .../geometry/src/polygon/line_segment.cpp | 34 +++++++++---------- 2 files changed, 23 insertions(+), 21 deletions(-) diff --git a/common/math/geometry/include/geometry/polygon/line_segment.hpp b/common/math/geometry/include/geometry/polygon/line_segment.hpp index 3a424c3e315..d3efd8679a6 100644 --- a/common/math/geometry/include/geometry/polygon/line_segment.hpp +++ b/common/math/geometry/include/geometry/polygon/line_segment.hpp @@ -29,6 +29,9 @@ namespace geometry class LineSegment { public: + const geometry_msgs::msg::Point start_point; + const geometry_msgs::msg::Point end_point; + LineSegment( const geometry_msgs::msg::Point & start_point, const geometry_msgs::msg::Point & end_point); LineSegment( @@ -36,8 +39,6 @@ class LineSegment double length); ~LineSegment(); LineSegment & operator=(const LineSegment &); - const geometry_msgs::msg::Point start_point; - const geometry_msgs::msg::Point end_point; 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 @@ -54,9 +55,9 @@ class LineSegment 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 getVector() const -> const geometry_msgs::msg::Vector3 &; auto getNormalVector() const -> geometry_msgs::msg::Vector3; - auto get2DVector() const -> geometry_msgs::msg::Vector3; + auto get2DVector() const -> const geometry_msgs::msg::Vector3 &; auto getLength() const -> double; auto get2DLength() const -> double; auto getSlope() const -> double; @@ -74,6 +75,7 @@ class LineSegment const double length_2d; const geometry_msgs::msg::Vector3 vector; const geometry_msgs::msg::Vector3 vector_2d; + auto denormalize(const std::optional & s, const bool throw_error_on_out_of_range = true) const -> std::optional; auto denormalize(const double s) const -> double; diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 6c11f0716f9..196565215ff 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -76,7 +76,7 @@ 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) { + if (0.0 <= s_normalized && s_normalized <= 1.0) { return geometry_msgs::build() .x(start_point.x + get2DVector().x * s_normalized) .y(start_point.y + get2DVector().y * s_normalized) @@ -113,13 +113,12 @@ 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))); + fill_pitch ? std::atan2(-getVector().z, std::hypot(getVector().x, getVector().y)) : 0.0) + .z(std::atan2(getVector().y, getVector().x))); }()); } @@ -148,9 +147,11 @@ auto LineSegment::getSValue( return getIntersection2DSValue( 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); } @@ -200,9 +201,9 @@ auto LineSegment::getIntersection2DSValue(const LineSegment & line, const bool d 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; + 1.0 - ((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.", @@ -210,7 +211,7 @@ auto LineSegment::getIntersection2DSValue(const LineSegment & line, const bool d "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) + return (-s_tolerance <= s && s <= 1.0 + s_tolerance) ? std::optional(std::clamp(s, 0.0, 1.0)) : std::optional(); }; @@ -233,7 +234,7 @@ auto LineSegment::getIntersection2D(const LineSegment & line) const : std::optional(); } -auto LineSegment::getVector() const -> geometry_msgs::msg::Vector3 { return vector; } +auto LineSegment::getVector() const -> const geometry_msgs::msg::Vector3 & { return vector; } /** * @brief Get normal vector of the line segment. @@ -241,15 +242,14 @@ auto LineSegment::getVector() const -> geometry_msgs::msg::Vector3 { return vect */ auto LineSegment::getNormalVector() const -> geometry_msgs::msg::Vector3 { - geometry_msgs::msg::Vector3 tangent_vec = getVector(); 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)) + .x(getVector().x * std::cos(theta) - getVector().y * std::sin(theta)) + .y(getVector().x * std::sin(theta) + getVector().y * std::cos(theta)) .z(0.0); } -auto LineSegment::get2DVector() const -> geometry_msgs::msg::Vector3 { return vector_2d; } +auto LineSegment::get2DVector() const -> const geometry_msgs::msg::Vector3 & { return vector_2d; } auto LineSegment::get2DLength() const -> double { return length_2d; } @@ -300,7 +300,7 @@ 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)) { + if (!throw_error_on_out_of_range && s && !(0.0 <= s.value() && s.value() <= 1.0)) { return std::optional(); } return s ? denormalize(s.value()) : std::optional(); @@ -313,7 +313,7 @@ auto LineSegment::denormalize( */ auto LineSegment::denormalize(const double s) const -> double { - if (0 <= s && s <= 1) { + if (0.0 <= s && s <= 1.0) { return s * getLength(); } THROW_SIMULATION_ERROR( From 4d88bb0eb694953ea3bd9c7460fd5c6910389167 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Thu, 22 Aug 2024 02:04:58 +0000 Subject: [PATCH 149/304] Bump version of scenario_simulator_v2 from version 3.5.0 to version 3.5.1 --- common/math/arithmetic/CHANGELOG.rst | 8 ++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 8 ++++++++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 8 ++++++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 8 ++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 8 ++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 8 ++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 8 ++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 8 ++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 8 ++++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 8 ++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 8 ++++++++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 8 ++++++++ .../openscenario_interpreter_example/package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 8 ++++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 8 ++++++++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 8 ++++++++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++++++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 8 ++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 8 ++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 8 ++++++++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 8 ++++++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 8 ++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 12 ++++++++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 8 ++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 8 ++++++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 8 ++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 265 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 64c3bbb98d9..ac0f5ca5f33 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index dc0b9148053..1542cfbbd32 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.5.0 + 3.5.1 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 62b75383b52..8b3636f5ba8 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 7dfdbe1d948..09e966802a6 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.5.0 + 3.5.1 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 54850734521..b8b7cf2f5ed 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 283b46d76c3..ad4a4cac524 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.5.0 + 3.5.1 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 054e9449524..e68f4933db7 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index cf00d05b43f..1a49e5ad5d1 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.5.0 + 3.5.1 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 65c1e11f5a0..ad75075183c 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index d6a76edb2b3..5bbfcbe8b86 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.5.0 + 3.5.1 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index c7c1a86aa2e..deda8815c72 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 7e79e340797..c78d2eef81b 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.5.0 + 3.5.1 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 a3cbd42d32f..e62e13ad4fb 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,14 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 3b0833adddb..baf82bb0137 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.5.0 + 3.5.1 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 4ac41d7f364..d875dfa071f 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 0bdc0dcd63e..41bc8eece20 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.5.0 + 3.5.1 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 fbb3748f1d9..99eb97082be 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,14 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index fff5d6ae9c8..ce243fd32c9 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.5.0 + 3.5.1 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 cf545f94612..3b79763d377 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 4f4b0ed260a..3fe9da935d1 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.5.0 + 3.5.1 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 9f522ae7066..6bae1ecad5f 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index dc9ed56c35f..b94f7bb8cb2 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.5.0 + 3.5.1 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 60a133f014f..4eac3623e5c 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,14 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge pull request `#1316 `_ from tier4/relative-clearance-condition diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index d89bf384717..1f4c6f5557f 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.5.0 + 3.5.1 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 65d65074842..6d1a1ce0044 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 12da0f14943..2ec093360de 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.5.0 + 3.5.1 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 afb80f1e887..1e197535985 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 0e5eae005dd..de45a893ce3 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.5.0 + 3.5.1 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 f87d7ff9a93..d96e08f900a 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index da55adb6e8c..469df484683 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.5.0 + 3.5.1 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 6cf120d924c..bf55f43e420 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 2e0d1f8fd00..f877b8b8650 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.5.0 + 3.5.1 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 14ecb74f6de..a931872c047 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,14 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 94998e36263..071914f2725 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.5.0 + 3.5.1 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 1024f4e94e1..78c63ece427 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,14 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index fd3beac056c..612bc188111 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.5.0 + 3.5.1 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 848d948bf39..3f9f2f8ce24 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 6f77a5b65ea..83c4ac7a053 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.5.0 + 3.5.1 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 e96bed42787..afc1bad3634 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 +21,14 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition 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 5e5e9b4267e..c759188b370 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 - 3.5.0 + 3.5.1 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 110e106a1f6..a2c49f91b0b 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index a6d95d78fad..3ea8822c0f9 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.5.0 + 3.5.1 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 46bb38e4585..2df22173009 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index ccb25126242..cbbc43380d6 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.5.0 + 3.5.1 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 33aa50daaf7..803937311a8 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index a755ce78ec0..e007b91b5d6 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.5.0 + 3.5.1 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 0f4b53a7f56..7a73f0c06a2 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index e589b75cda2..f476f419da9 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.5.0 + 3.5.1 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 8f53e81a059..adbcdbfc3b6 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 7eac6ccca06..1f7e923e7a2 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.5.0 + 3.5.1 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 0b77efa5042..b929a03977c 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge pull request `#1335 `_ from tier4/feat/RJD-1283-add-traffic-controller-visualization + feat(traffic_controller, api): add rviz marker for TrafficSink +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* ref(traffic_controller): rename make->appendDebugMarker +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* feat(traffic_controller, api): add rviz marker for TrafficSink +* Contributors: Dawid Moszynski, Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge pull request `#1316 `_ from tier4/relative-clearance-condition diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 540e9d980fc..c5390564628 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.5.0 + 3.5.1 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 2a75d18c2b9..fdb6b702e45 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index a757a7725c8..0710d446627 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.5.0 + 3.5.1 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 5fc9292f0c0..f04eede8929 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge branch 'master' into relative-clearance-condition diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index d0dbd53a058..2e885e4e655 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.5.0 + 3.5.1 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 33ccb31848d..2e4ef49e606 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,14 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.1 (2024-08-22) +------------------ +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization +* Contributors: Dawid Moszyński, Tatsuya Yamasaki + 3.5.0 (2024-08-21) ------------------ * Merge pull request `#1316 `_ from tier4/relative-clearance-condition diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 0883d2fd03f..33269e1139d 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.5.0 + 3.5.1 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 1e0c0138fa1f769389912b130a6b7a6a79450f03 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 22 Aug 2024 13:35:26 +0900 Subject: [PATCH 150/304] usw workflow dispatch Signed-off-by: Masaya Kataoka --- .github/workflows/Docekr.yaml | 10 +++++++--- .github/workflows/Release.yaml | 9 +++++++++ 2 files changed, 16 insertions(+), 3 deletions(-) diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docekr.yaml index 28b543cb6ed..8f29d67e16d 100644 --- a/.github/workflows/Docekr.yaml +++ b/.github/workflows/Docekr.yaml @@ -10,7 +10,11 @@ on: - "!mkdocs.yml" - "!pyproject.toml" - "!poetry.lock" - release: + workflow_dispatch: + inputs: + version: + description: version of the scenario_simulator_v2 + required: true jobs: push_docker: @@ -61,7 +65,7 @@ jobs: ${{ matrix.rosdistro }}_base_${{ matrix.arch }} - name: Build and push (${{ matrix.arch }}) - if: github.event_name != 'pull_request' + if: github.event_name == 'workflow_dispatch' uses: docker/bake-action@v3 with: files: | @@ -70,7 +74,7 @@ jobs: set: | *.cache-to=type=gha,mode=max *.cache-from=type=gha - *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.event.release.tag_name }} + *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.event.inputs.version }} push: true targets: | ${{ matrix.rosdistro }}_base_${{ matrix.arch }} diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index 39b5508f735..051e9153b1b 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -142,3 +142,12 @@ jobs: repo: context.repo.repo, ref: `heads/${context.payload.pull_request.head.ref}`, }) + + - name: Kick docker build action + if: github.event.pull_request.merged == true + run: | + curl -X POST \ + -H "Accept: application/vnd.github.v3+json" \ + -H "Authorization: token ${{ secrets.PAT }}" \ + https://api.github.com/repos/${{ github.repository }}/actions/workflows/target-workflow.yml/dispatches \ + -d '{"ref":"main", "inputs": {"version":"${{ steps.new_version.outputs.new_version }}"}}' From 120d5fee6adcea466a774510ff5f84a964f0f037 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 22 Aug 2024 15:33:09 +0900 Subject: [PATCH 151/304] update Release actions Signed-off-by: Masaya Kataoka --- .github/workflows/Release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index 051e9153b1b..d163954ee75 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -149,5 +149,5 @@ jobs: curl -X POST \ -H "Accept: application/vnd.github.v3+json" \ -H "Authorization: token ${{ secrets.PAT }}" \ - https://api.github.com/repos/${{ github.repository }}/actions/workflows/target-workflow.yml/dispatches \ + https://api.github.com/repos/${{ github.repository }}/actions/workflows/Docker.yml/dispatches \ -d '{"ref":"main", "inputs": {"version":"${{ steps.new_version.outputs.new_version }}"}}' From 119e0a11d3d010ccb112964eb7a5f6d79bfe8c75 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 22 Aug 2024 15:34:57 +0900 Subject: [PATCH 152/304] add curl Signed-off-by: Masaya Kataoka --- .github/workflows/Release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index d163954ee75..0c2ab0e2e00 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -36,7 +36,7 @@ jobs: uses: levonet/action-restore-branch@master - name: Install bloom - run: apt update && apt install -y python3-bloom git + run: apt update && apt install -y python3-bloom git curl - name: Checkout uses: actions/checkout@v4 From f38b5611a89e4c0a329dfe528ce4cca0d0f07816 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 22 Aug 2024 16:29:42 +0900 Subject: [PATCH 153/304] change token Signed-off-by: Masaya Kataoka --- .github/workflows/Release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index 0c2ab0e2e00..2183cde0dbb 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -148,6 +148,6 @@ jobs: run: | curl -X POST \ -H "Accept: application/vnd.github.v3+json" \ - -H "Authorization: token ${{ secrets.PAT }}" \ + -H "Authorization: token ${{ secrets.BLOOM_GITHUB_TOKEN }}" \ https://api.github.com/repos/${{ github.repository }}/actions/workflows/Docker.yml/dispatches \ -d '{"ref":"main", "inputs": {"version":"${{ steps.new_version.outputs.new_version }}"}}' From c15d63755b39513049a50278b99eda1e3ba88a5f Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 22 Aug 2024 16:58:57 +0900 Subject: [PATCH 154/304] fix typo Signed-off-by: Masaya Kataoka --- .github/workflows/{Docekr.yaml => Docker.yaml} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename .github/workflows/{Docekr.yaml => Docker.yaml} (100%) diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docker.yaml similarity index 100% rename from .github/workflows/Docekr.yaml rename to .github/workflows/Docker.yaml From 21732a098156155724e5304f073009707fb33038 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 22 Aug 2024 17:00:20 +0900 Subject: [PATCH 155/304] fix typo Signed-off-by: Masaya Kataoka --- .github/workflows/Release.yaml | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index 2183cde0dbb..c3812e1f187 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -146,8 +146,10 @@ jobs: - name: Kick docker build action if: github.event.pull_request.merged == true run: | - curl -X POST \ - -H "Accept: application/vnd.github.v3+json" \ - -H "Authorization: token ${{ secrets.BLOOM_GITHUB_TOKEN }}" \ - https://api.github.com/repos/${{ github.repository }}/actions/workflows/Docker.yml/dispatches \ - -d '{"ref":"main", "inputs": {"version":"${{ steps.new_version.outputs.new_version }}"}}' + curl -L \ + -X POST \ + -H "Accept: application/vnd.github+json" \ + -H "Authorization: token ${{ secrets.BLOOM_GITHUB_TOKEN }}" \ + -H "X-GitHub-Api-Version: 2022-11-28" \ + https://api.github.com/repos/merge-queue-testing/scenario_simulator_v2/actions/workflows/Docker.yaml/dispatches \ + -d '{"ref":"master","inputs":{"version":"3.5.2"}}' From ccb7c09a217c0da41bb98571561894bae87246c1 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 22 Aug 2024 12:04:16 +0200 Subject: [PATCH 156/304] LineSegment 2D vs 3D indistinction fixes --- .../include/geometry/polygon/line_segment.hpp | 2 +- .../src/intersection/intersection.cpp | 40 +++++++++---- .../geometry/src/polygon/line_segment.cpp | 60 ++++++------------- .../src/spline/catmull_rom_spline.cpp | 2 +- .../math/geometry/test/test_intersection.cpp | 14 +---- .../math/geometry/test/test_line_segment.cpp | 26 ++++---- 6 files changed, 63 insertions(+), 81 deletions(-) diff --git a/common/math/geometry/include/geometry/polygon/line_segment.hpp b/common/math/geometry/include/geometry/polygon/line_segment.hpp index d3efd8679a6..3cb3e178627 100644 --- a/common/math/geometry/include/geometry/polygon/line_segment.hpp +++ b/common/math/geometry/include/geometry/polygon/line_segment.hpp @@ -52,7 +52,7 @@ class LineSegment -> std::optional; auto getIntersection2D(const LineSegment & line) const -> std::optional; - auto getSValue( + auto get2DSValue( const geometry_msgs::msg::Pose & pose, double threshold_distance, bool denormalize_s) const -> std::optional; auto getVector() const -> const geometry_msgs::msg::Vector3 &; diff --git a/common/math/geometry/src/intersection/intersection.cpp b/common/math/geometry/src/intersection/intersection.cpp index c2a7665eac3..c87e2352662 100644 --- a/common/math/geometry/src/intersection/intersection.cpp +++ b/common/math/geometry/src/intersection/intersection.cpp @@ -14,6 +14,7 @@ #include #include +#include namespace math { @@ -55,21 +56,34 @@ 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; } - 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; + // 'line0' represented as a0x + b0y = c0 + const double a0 = line0.get2DVector().y; + const double b0 = -line0.get2DVector().x; + const double c0 = a0 * line0.start_point.x + b0 * line0.start_point.y; + + // 'line1' represented as a1x + b1y = c1 + const double a1 = line1.get2DVector().y; + const double b1 = -line1.get2DVector().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) < 1.0e-10) { + // 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); + } } 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 196565215ff..b4085ec69fe 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -48,18 +48,18 @@ LineSegment::LineSegment( const geometry_msgs::msg::Point & start_point, const geometry_msgs::msg::Vector3 & vec, const double length) : LineSegment::LineSegment(start_point, [&]() -> geometry_msgs::msg::Point { - double vec_size = std::hypot(vec.x, vec.y); - if (vec_size == 0.0) { + if (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); } - 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); }()) { } @@ -78,9 +78,9 @@ auto LineSegment::getPoint(const double s, const bool denormalize_s) const const double s_normalized = denormalize_s ? s / getLength() : s; if (0.0 <= s_normalized && s_normalized <= 1.0) { return geometry_msgs::build() - .x(start_point.x + get2DVector().x * s_normalized) - .y(start_point.y + get2DVector().y * s_normalized) - .z(start_point.z + (end_point.z - start_point.z) * s_normalized); + .x(start_point.x + getVector().x * s_normalized) + .y(start_point.y + getVector().y * s_normalized) + .z(start_point.z + getVector().z * s_normalized); } if (denormalize_s) { THROW_SIMULATION_ERROR( @@ -140,7 +140,7 @@ auto LineSegment::isIntersect2D(const geometry_msgs::msg::Point & point) const - } } -auto LineSegment::getSValue( +auto LineSegment::get2DSValue( const geometry_msgs::msg::Pose & pose, double threshold_distance, bool denormalize_s) const -> std::optional { @@ -192,30 +192,11 @@ auto LineSegment::getIntersection2DSValue( auto LineSegment::getIntersection2DSValue(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 = - 1.0 - ((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 <= 1.0 + 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 getIntersection2DSValue(point.value(), denormalize_s); + } else { + return std::nullopt; + } } /** @@ -226,12 +207,7 @@ 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(); + return math::geometry::getIntersection2D(*this, line); } auto LineSegment::getVector() const -> const geometry_msgs::msg::Vector3 & { return vector; } @@ -301,9 +277,9 @@ auto LineSegment::denormalize( -> std::optional { if (!throw_error_on_out_of_range && s && !(0.0 <= s.value() && s.value() <= 1.0)) { - return std::optional(); + return std::nullopt; } - return s ? denormalize(s.value()) : std::optional(); + return s ? std::make_optional(denormalize(s.value())) : std::nullopt; } /** diff --git a/common/math/geometry/src/spline/catmull_rom_spline.cpp b/common/math/geometry/src/spline/catmull_rom_spline.cpp index 523b6f28099..4f633488f00 100644 --- a/common/math/geometry/src/spline/catmull_rom_spline.cpp +++ b/common/math/geometry/src/spline/catmull_rom_spline.cpp @@ -425,7 +425,7 @@ auto CatmullRomSpline::getSValue( "This message is not originally intended to be displayed, if you see it, please " "contact the developer of traffic_simulator."); } - return line_segments_[0].getSValue(pose, threshold_distance, true); + return line_segments_[0].get2DSValue(pose, threshold_distance, true); default: double s = 0; for (size_t i = 0; i < curves_.size(); i++) { 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..157b59c3b98 100644 --- a/common/math/geometry/test/test_line_segment.cpp +++ b/common/math/geometry/test/test_line_segment.cpp @@ -270,44 +270,44 @@ TEST(LineSegment, getLineSegmentsVectorIdentical_closeStartEnd) EXPECT_POINT_EQ(lines[3].end_point, point); } -TEST(LineSegment, getSValue) +TEST(LineSegment, get2DSValue) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, false); + const auto s = line.get2DSValue(makePose(2.0, 2.0, 2.0), 1.0, false); EXPECT_TRUE(s); if (s) { EXPECT_DOUBLE_EQ(s.value(), 2.0 / 3.0); } } -TEST(LineSegment, getSValue_denormalize) +TEST(LineSegment, get2DSValue_denormalize) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, true); + const auto s = line.get2DSValue(makePose(2.0, 2.0, 2.0), 1.0, true); EXPECT_TRUE(s); if (s) { - EXPECT_DOUBLE_EQ(s.value(), std::hypot(2.0, 2.0, 2.0)); + EXPECT_DOUBLE_EQ(s.value(), std::hypot(2.0, 2.0)); } } -TEST(LineSegment, getSValue_outOfRange) +TEST(LineSegment, get2DSValue_outOfRange) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, false); + const auto s = line.get2DSValue(makePose(4.0, 4.0, 4.0), 1.0, false); EXPECT_FALSE(s); } -TEST(LineSegment, getSValue_outOfRangeDenormalize) +TEST(LineSegment, get2DSValue_outOfRangeDenormalize) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, true); + const auto s = line.get2DSValue(makePose(4.0, 4.0, 4.0), 1.0, true); EXPECT_FALSE(s); } -TEST(LineSegment, getSValue_parallel) +TEST(LineSegment, get2DSValue_parallel) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); - const auto s = line.getSValue( + const auto s = line.get2DSValue( makePose( 1.0, 0.0, 0.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), @@ -315,10 +315,10 @@ TEST(LineSegment, getSValue_parallel) EXPECT_FALSE(s); } -TEST(LineSegment, getSValue_parallelDenormalize) +TEST(LineSegment, get2DSValue_parallelDenormalize) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); - const auto s = line.getSValue( + const auto s = line.get2DSValue( makePose( 1.0, 0.0, 0.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), From b2fc237f601a09a0ef0dac5da9ee3765e35b1536 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 22 Aug 2024 15:00:39 +0200 Subject: [PATCH 157/304] rename getIntersection2DSValue, minor logical fixes regarding 2D vs 3D --- .../include/geometry/polygon/line_segment.hpp | 6 +- .../geometry/src/polygon/line_segment.cpp | 17 ++-- .../src/spline/catmull_rom_spline.cpp | 4 +- .../math/geometry/test/test_line_segment.cpp | 94 +++++++++---------- 4 files changed, 61 insertions(+), 60 deletions(-) diff --git a/common/math/geometry/include/geometry/polygon/line_segment.hpp b/common/math/geometry/include/geometry/polygon/line_segment.hpp index 3cb3e178627..4a347d36332 100644 --- a/common/math/geometry/include/geometry/polygon/line_segment.hpp +++ b/common/math/geometry/include/geometry/polygon/line_segment.hpp @@ -45,14 +45,14 @@ class LineSegment -> geometry_msgs::msg::Pose; auto isIntersect2D(const geometry_msgs::msg::Point & point) const -> bool; auto isIntersect2D(const LineSegment & line) 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 get2DSValue( + auto getSValue( const geometry_msgs::msg::Pose & pose, double threshold_distance, bool denormalize_s) const -> std::optional; auto getVector() const -> const geometry_msgs::msg::Vector3 &; diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index b4085ec69fe..14e227ea750 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -140,11 +140,11 @@ auto LineSegment::isIntersect2D(const geometry_msgs::msg::Point & point) const - } } -auto LineSegment::get2DSValue( +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, @@ -171,13 +171,14 @@ auto LineSegment::isIntersect2D(const LineSegment & line) 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 { if (isIntersect2D(point)) { - const double distance = std::hypot(point.x - start_point.x, point.y - start_point.y); - return denormalize_s ? std::make_optional(distance) - : std::make_optional(distance / get2DLength()); + const double proportion_2d = + std::hypot(point.x - start_point.x, point.y - start_point.y) / get2DLength(); + return denormalize_s ? std::make_optional(proportion_2d * getLength()) + : std::make_optional(proportion_2d); } else { return std::nullopt; } @@ -189,11 +190,11 @@ 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 { if (const auto point = getIntersection2D(line); point.has_value()) { - return getIntersection2DSValue(point.value(), denormalize_s); + return get2DIntersectionSValue(point.value(), denormalize_s); } else { return std::nullopt; } diff --git a/common/math/geometry/src/spline/catmull_rom_spline.cpp b/common/math/geometry/src/spline/catmull_rom_spline.cpp index 4f633488f00..0c5b6830cce 100644 --- a/common/math/geometry/src/spline/catmull_rom_spline.cpp +++ b/common/math/geometry/src/spline/catmull_rom_spline.cpp @@ -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()); } } @@ -425,7 +425,7 @@ auto CatmullRomSpline::getSValue( "This message is not originally intended to be displayed, if you see it, please " "contact the developer of traffic_simulator."); } - return line_segments_[0].get2DSValue(pose, threshold_distance, true); + return line_segments_[0].getSValue(pose, threshold_distance, true); default: double s = 0; for (size_t i = 0; i < curves_.size(); i++) { diff --git a/common/math/geometry/test/test_line_segment.cpp b/common/math/geometry/test/test_line_segment.cpp index 157b59c3b98..655e9b8499e 100644 --- a/common/math/geometry/test/test_line_segment.cpp +++ b/common/math/geometry/test/test_line_segment.cpp @@ -270,44 +270,44 @@ TEST(LineSegment, getLineSegmentsVectorIdentical_closeStartEnd) EXPECT_POINT_EQ(lines[3].end_point, point); } -TEST(LineSegment, get2DSValue) +TEST(LineSegment, getSValue) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.get2DSValue(makePose(2.0, 2.0, 2.0), 1.0, false); + const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, false); EXPECT_TRUE(s); if (s) { EXPECT_DOUBLE_EQ(s.value(), 2.0 / 3.0); } } -TEST(LineSegment, get2DSValue_denormalize) +TEST(LineSegment, getSValue_denormalize) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.get2DSValue(makePose(2.0, 2.0, 2.0), 1.0, true); + const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, true); EXPECT_TRUE(s); if (s) { - EXPECT_DOUBLE_EQ(s.value(), std::hypot(2.0, 2.0)); + EXPECT_DOUBLE_EQ(s.value(), std::hypot(2.0, 2.0, 2.0)); } } -TEST(LineSegment, get2DSValue_outOfRange) +TEST(LineSegment, getSValue_outOfRange) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.get2DSValue(makePose(4.0, 4.0, 4.0), 1.0, false); + const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, false); EXPECT_FALSE(s); } -TEST(LineSegment, get2DSValue_outOfRangeDenormalize) +TEST(LineSegment, getSValue_outOfRangeDenormalize) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.get2DSValue(makePose(4.0, 4.0, 4.0), 1.0, true); + const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, true); EXPECT_FALSE(s); } -TEST(LineSegment, get2DSValue_parallel) +TEST(LineSegment, getSValue_parallel) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); - const auto s = line.get2DSValue( + const auto s = line.getSValue( makePose( 1.0, 0.0, 0.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), @@ -315,10 +315,10 @@ TEST(LineSegment, get2DSValue_parallel) EXPECT_FALSE(s); } -TEST(LineSegment, get2DSValue_parallelDenormalize) +TEST(LineSegment, getSValue_parallelDenormalize) { math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); - const auto s = line.get2DSValue( + const auto s = line.getSValue( makePose( 1.0, 0.0, 0.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), @@ -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); } From 2491871b779b9fe40f2eff16c97c14fff5be6357 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 22 Aug 2024 15:14:14 +0200 Subject: [PATCH 158/304] use has_value --- common/math/geometry/src/polygon/line_segment.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 14e227ea750..50253b30a3b 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -277,10 +277,10 @@ 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 && !(0.0 <= s.value() && s.value() <= 1.0)) { + if (!throw_error_on_out_of_range && s.has_value() && !(0.0 <= s.value() && s.value() <= 1.0)) { return std::nullopt; } - return s ? std::make_optional(denormalize(s.value())) : std::nullopt; + return s.has_value() ? std::make_optional(denormalize(s.value())) : std::nullopt; } /** From bfd72c37a32d7b0c32f423267e0f362eccbb8ad7 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 22 Aug 2024 15:24:14 +0200 Subject: [PATCH 159/304] simplify denormalize logic --- common/math/geometry/src/polygon/line_segment.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 50253b30a3b..6bb662aa1ba 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -277,10 +277,10 @@ 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.has_value() && !(0.0 <= s.value() && s.value() <= 1.0)) { + if (!s.has_value() || (!throw_error_on_out_of_range && !(0.0 <= s.value() && s.value() <= 1.0))) { return std::nullopt; } - return s.has_value() ? std::make_optional(denormalize(s.value())) : std::nullopt; + return std::make_optional(denormalize(s.value())); } /** From 8d08efd76db0cd31fd086962f3bcb0e45e234e96 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 22 Aug 2024 15:45:03 +0200 Subject: [PATCH 160/304] remove unnecessary lambda --- common/math/geometry/src/polygon/line_segment.cpp | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 6bb662aa1ba..792757e11ce 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -112,14 +112,11 @@ 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 { - return math::geometry::convertEulerAngleToQuaternion( - geometry_msgs::build() - .x(0.0) - .y( - fill_pitch ? std::atan2(-getVector().z, std::hypot(getVector().x, getVector().y)) : 0.0) - .z(std::atan2(getVector().y, getVector().x))); - }()); + .orientation(math::geometry::convertEulerAngleToQuaternion( + geometry_msgs::build() + .x(0.0) + .y(fill_pitch ? std::atan2(-getVector().z, std::hypot(getVector().x, getVector().y)) : 0.0) + .z(std::atan2(getVector().y, getVector().x)))); } /** From 4d02d380eaa1e1c89844d112a6179666d46dce21 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 22 Aug 2024 16:20:05 +0200 Subject: [PATCH 161/304] rename getSlope, add consts --- .../include/geometry/polygon/line_segment.hpp | 10 ++++++---- .../geometry/src/intersection/intersection.cpp | 3 ++- common/math/geometry/src/polygon/line_segment.cpp | 14 +++++++++++--- common/math/geometry/test/test_line_segment.cpp | 8 ++++---- 4 files changed, 23 insertions(+), 12 deletions(-) diff --git a/common/math/geometry/include/geometry/polygon/line_segment.hpp b/common/math/geometry/include/geometry/polygon/line_segment.hpp index 4a347d36332..6fb16991950 100644 --- a/common/math/geometry/include/geometry/polygon/line_segment.hpp +++ b/common/math/geometry/include/geometry/polygon/line_segment.hpp @@ -39,12 +39,15 @@ class LineSegment double length); ~LineSegment(); LineSegment & operator=(const LineSegment &); + + 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 & line) const -> bool; auto get2DIntersectionSValue( const geometry_msgs::msg::Point & point, const bool denormalize_s = false) const -> std::optional; @@ -60,14 +63,13 @@ class LineSegment auto get2DVector() const -> 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 isInBounds2D(const geometry_msgs::msg::Point & point) const -> bool; auto relativePointPosition2D(const geometry_msgs::msg::Point & point) const -> int; private: diff --git a/common/math/geometry/src/intersection/intersection.cpp b/common/math/geometry/src/intersection/intersection.cpp index c87e2352662..1b1a1f3e586 100644 --- a/common/math/geometry/src/intersection/intersection.cpp +++ b/common/math/geometry/src/intersection/intersection.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include #include #include @@ -71,7 +72,7 @@ std::optional getIntersection2D( const double determinant = a0 * b1 - a1 * b0; - if (std::abs(determinant) < 1.0e-10) { + 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.", diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 792757e11ce..1325e4159af 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -48,7 +48,7 @@ LineSegment::LineSegment( const geometry_msgs::msg::Point & start_point, const geometry_msgs::msg::Vector3 & vec, const double length) : LineSegment::LineSegment(start_point, [&]() -> geometry_msgs::msg::Point { - if (double vec_size = std::hypot(vec.x, vec.y); vec_size == 0.0) { + 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. ", @@ -171,6 +171,8 @@ auto LineSegment::isIntersect2D(const LineSegment & line) const -> bool auto LineSegment::get2DIntersectionSValue( const geometry_msgs::msg::Point & point, const bool denormalize_s) const -> std::optional { + // Note: We check for an SValue along the line. + // The term "2D" in the function name specifically refers to the intersection point, not SValue. if (isIntersect2D(point)) { const double proportion_2d = std::hypot(point.x - start_point.x, point.y - start_point.y) / get2DLength(); @@ -216,7 +218,7 @@ auto LineSegment::getVector() const -> const geometry_msgs::msg::Vector3 & { ret */ auto LineSegment::getNormalVector() const -> geometry_msgs::msg::Vector3 { - double theta = M_PI / 2.0; + const double theta = M_PI / 2.0; return geometry_msgs::build() .x(getVector().x * std::cos(theta) - getVector().y * std::sin(theta)) .y(getVector().x * std::sin(theta) + getVector().y * std::cos(theta)) @@ -229,7 +231,13 @@ auto LineSegment::get2DLength() const -> double { return length_2d; } auto LineSegment::getLength() const -> double { return length; } -auto LineSegment::getSlope() const -> double { return get2DVector().y / get2DVector().x; } +auto LineSegment::get2DVectorSlope() const -> double +{ + if (get2DVector().x <= std::numeric_limits::epsilon()) { + THROW_SIMULATION_ERROR("Slope of a vertical line is undefined"); + } + return get2DVector().y / get2DVector().x; +} /** * @brief Get squared distance (Square of euclidean distance) between specified 3D point and specified 3D point on line segment in 2D. (x,y) diff --git a/common/math/geometry/test/test_line_segment.cpp b/common/math/geometry/test/test_line_segment.cpp index 655e9b8499e..01011d528b6 100644 --- a/common/math/geometry/test/test_line_segment.cpp +++ b/common/math/geometry/test/test_line_segment.cpp @@ -156,16 +156,16 @@ TEST(LineSegment, get2DLengthZeroLength) EXPECT_DOUBLE_EQ(line.get2DLength(), 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) From 9a834f0ee0950bdb115eecb78e1fa9d5b94ea8e6 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 22 Aug 2024 16:21:32 +0200 Subject: [PATCH 162/304] add else to if statements --- common/math/geometry/src/polygon/line_segment.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 1325e4159af..7e5a192ca11 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -235,8 +235,9 @@ auto LineSegment::get2DVectorSlope() const -> double { if (get2DVector().x <= std::numeric_limits::epsilon()) { THROW_SIMULATION_ERROR("Slope of a vertical line is undefined"); + } else { + return get2DVector().y / get2DVector().x; } - return get2DVector().y / get2DVector().x; } /** @@ -284,8 +285,9 @@ auto LineSegment::denormalize( { 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 std::make_optional(denormalize(s.value())); } /** From 634603360fba82d67c519d9f4a6ad7fbb7addd77 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 22 Aug 2024 16:31:22 +0200 Subject: [PATCH 163/304] note --- common/math/geometry/src/polygon/line_segment.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 7e5a192ca11..8661b39015b 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -171,8 +171,7 @@ auto LineSegment::isIntersect2D(const LineSegment & line) const -> bool auto LineSegment::get2DIntersectionSValue( const geometry_msgs::msg::Point & point, const bool denormalize_s) const -> std::optional { - // Note: We check for an SValue along the line. - // The term "2D" in the function name specifically refers to the intersection point, not SValue. + /// @note This function checks for an SValue along the line. The term "2D" in the function name specifically refers to the intersection point, not SValue. if (isIntersect2D(point)) { const double proportion_2d = std::hypot(point.x - start_point.x, point.y - start_point.y) / get2DLength(); From 800a06cbcc79d1e977e77427677a20b6982a208e Mon Sep 17 00:00:00 2001 From: Release Bot Date: Fri, 23 Aug 2024 03:19:57 +0000 Subject: [PATCH 164/304] Bump version of scenario_simulator_v2 from version 3.5.1 to version 3.5.2 --- common/math/arithmetic/CHANGELOG.rst | 7 +++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 7 +++++++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 7 +++++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 7 +++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 7 +++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 10 ++++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 7 +++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 7 +++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 7 +++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 7 +++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 7 +++++++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 12 ++++++++++++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 7 +++++++ .../openscenario_interpreter_example/package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 7 +++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 7 +++++++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 7 +++++++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 7 +++++++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 7 +++++++ openscenario/openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 7 +++++++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 7 +++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 7 +++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 7 +++++++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 7 +++++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 7 +++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 7 +++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 7 +++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 7 +++++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 11 +++++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 244 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index ac0f5ca5f33..e6143092224 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 1542cfbbd32..018ff9fb011 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.5.1 + 3.5.2 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 8b3636f5ba8..ef2f91fbdb1 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 09e966802a6..e6a5e7a7188 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.5.1 + 3.5.2 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index b8b7cf2f5ed..d4d80b71f2b 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index ad4a4cac524..4d092356a5a 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.5.1 + 3.5.2 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 e68f4933db7..9818ba53118 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 1a49e5ad5d1..4ab46e09f15 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.5.1 + 3.5.2 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 ad75075183c..e39b9ece0eb 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 5bbfcbe8b86..f57550fbcc6 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.5.1 + 3.5.2 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index deda8815c72..8dc1e06f8ea 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,16 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge pull request `#1338 `_ from tier4/fix/interpreter/user-defined-value-condition + Fix/interpreter/user defined value condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Change QoS of `/api/localization/initialization_state` to transient local +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/external/concealer/package.xml b/external/concealer/package.xml index c78d2eef81b..a81b6c11749 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.5.1 + 3.5.2 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 e62e13ad4fb..bbfb8cd28ea 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,13 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index baf82bb0137..886e2ad4790 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.5.1 + 3.5.2 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 d875dfa071f..44adc3b2a99 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 41bc8eece20..2e7eadce210 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.5.1 + 3.5.2 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 99eb97082be..79f743c227e 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,13 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index ce243fd32c9..99e5424db70 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.5.1 + 3.5.2 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 3b79763d377..87db40be421 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 3fe9da935d1..9f219e0de12 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.5.1 + 3.5.2 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 6bae1ecad5f..708e2e2a241 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index b94f7bb8cb2..20ae47e3ab9 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.5.1 + 3.5.2 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 4eac3623e5c..47d6db82b6b 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,18 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge pull request `#1338 `_ from tier4/fix/interpreter/user-defined-value-condition + Fix/interpreter/user defined value condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Update `MagicSubscription`'s QoS to best effort +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Cleanup struct `MagicSubscription` +* Update MagicSubscription to share resources between instances +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 1f4c6f5557f..cacd0286ec4 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.5.1 + 3.5.2 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 6d1a1ce0044..88191f5be71 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 2ec093360de..1acb90e9b60 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.5.1 + 3.5.2 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 1e197535985..c3c48a56c77 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index de45a893ce3..9354299e92a 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.5.1 + 3.5.2 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 d96e08f900a..50bae38aae7 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 469df484683..08eba27169b 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.5.1 + 3.5.2 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 bf55f43e420..c2543266cad 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index f877b8b8650..8506186a487 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.5.1 + 3.5.2 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 a931872c047..f4ba46753eb 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,13 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 071914f2725..cd83ace688e 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.5.1 + 3.5.2 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 78c63ece427..7d354995ab7 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,13 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 612bc188111..90f04e5d258 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.5.1 + 3.5.2 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 3f9f2f8ce24..d60a2466e3e 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 83c4ac7a053..ba83dacc798 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.5.1 + 3.5.2 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 afc1bad3634..f8c796d649f 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 +21,13 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization 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 c759188b370..0b6d98faceb 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 - 3.5.1 + 3.5.2 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 a2c49f91b0b..9fc146c46a7 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 3ea8822c0f9..eb0a5155109 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.5.1 + 3.5.2 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 2df22173009..012e56d0e24 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index cbbc43380d6..1841f73241a 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.5.1 + 3.5.2 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 803937311a8..c9692148509 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index e007b91b5d6..c765f33b88f 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.5.1 + 3.5.2 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 7a73f0c06a2..23f476b0df6 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index f476f419da9..d51d3560824 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.5.1 + 3.5.2 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index adbcdbfc3b6..39714c8a2c9 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 1f7e923e7a2..766331641db 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.5.1 + 3.5.2 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 b929a03977c..5482cfc1f80 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge pull request `#1335 `_ from tier4/feat/RJD-1283-add-traffic-controller-visualization diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index c5390564628..54f8e104ad5 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.5.1 + 3.5.2 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index fdb6b702e45..d82f98feb99 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 0710d446627..3a3437091be 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.5.1 + 3.5.2 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 f04eede8929..d2f9c7f28d4 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 2e885e4e655..d486c8b5fc8 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.5.1 + 3.5.2 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 2e4ef49e606..7598508b4af 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,17 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.2 (2024-08-23) +------------------ +* Merge pull request `#1338 `_ from tier4/fix/interpreter/user-defined-value-condition + Fix/interpreter/user defined value condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge branch 'master' into fix/interpreter/user-defined-value-condition +* Merge remote-tracking branch 'origin/master' into fix/interpreter/user-defined-value-condition +* Update test scenario `ByValueCondition.UserDefinedValueCondition.yaml` +* Update test scenario `ByValueCondition.UserDefinedValueCondition.yaml` +* Contributors: Tatsuya Yamasaki, yamacir-kit + 3.5.1 (2024-08-22) ------------------ * Merge branch 'master' into feat/RJD-1283-add-traffic-controller-visualization diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 33269e1139d..ee3961e5180 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.5.1 + 3.5.2 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 04a7af49ec2036fc9397718d92cb7270b4316906 Mon Sep 17 00:00:00 2001 From: robomic Date: Fri, 23 Aug 2024 09:15:39 +0200 Subject: [PATCH 165/304] expand on the note, add else to if-stmts --- .../src/intersection/intersection.cpp | 45 ++++++++++--------- .../geometry/src/polygon/line_segment.cpp | 44 ++++++++++-------- 2 files changed, 48 insertions(+), 41 deletions(-) diff --git a/common/math/geometry/src/intersection/intersection.cpp b/common/math/geometry/src/intersection/intersection.cpp index 1b1a1f3e586..013efbb4cbe 100644 --- a/common/math/geometry/src/intersection/intersection.cpp +++ b/common/math/geometry/src/intersection/intersection.cpp @@ -59,31 +59,32 @@ std::optional getIntersection2D( { if (not line0.isIntersect2D(line1)) { return std::nullopt; - } - // 'line0' represented as a0x + b0y = c0 - const double a0 = line0.get2DVector().y; - const double b0 = -line0.get2DVector().x; - const double c0 = a0 * line0.start_point.x + b0 * line0.start_point.y; + } else { + // 'line0' represented as a0x + b0y = c0 + const double a0 = line0.get2DVector().y; + const double b0 = -line0.get2DVector().x; + const double c0 = a0 * line0.start_point.x + b0 * line0.start_point.y; - // 'line1' represented as a1x + b1y = c1 - const double a1 = line1.get2DVector().y; - const double b1 = -line1.get2DVector().x; - const double c1 = a1 * line1.start_point.x + b1 * line1.start_point.y; + // 'line1' represented as a1x + b1y = c1 + const double a1 = line1.get2DVector().y; + const double b1 = -line1.get2DVector().x; + const double c1 = a1 * line1.start_point.x + b1 * line1.start_point.y; - const double determinant = a0 * b1 - a1 * b0; + 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); + 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); + } } } diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 8661b39015b..ce7ab10b27c 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -81,21 +81,22 @@ auto LineSegment::getPoint(const double s, const bool denormalize_s) const .x(start_point.x + getVector().x * s_normalized) .y(start_point.y + getVector().y * s_normalized) .z(start_point.z + getVector().z * s_normalized); - } - 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(), - " 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(), - " This message is not originally intended to be displayed, if you see it, please " - "contact the developer of traffic_simulator."); + 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(), + " 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(), + " This message is not originally intended to be displayed, if you see it, please " + "contact the developer of traffic_simulator."); + } } } @@ -171,7 +172,11 @@ auto LineSegment::isIntersect2D(const LineSegment & line) const -> bool auto LineSegment::get2DIntersectionSValue( const geometry_msgs::msg::Point & point, const bool denormalize_s) const -> std::optional { - /// @note This function checks for an SValue along the line. The term "2D" in the function name specifically refers to the intersection point, not SValue. + /// @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) / get2DLength(); @@ -298,11 +303,12 @@ auto LineSegment::denormalize(const double s) const -> double { if (0.0 <= s && s <= 1.0) { return s * getLength(); + } 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; } From cdc07dd0f0f7f552aaee2c71d6e9a0c1d822b9f0 Mon Sep 17 00:00:00 2001 From: robomic Date: Fri, 23 Aug 2024 09:21:49 +0200 Subject: [PATCH 166/304] remove{} --- .../geometry/src/polygon/line_segment.cpp | 28 +++++++++---------- 1 file changed, 13 insertions(+), 15 deletions(-) diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index ce7ab10b27c..47ade55b944 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -81,22 +81,20 @@ auto LineSegment::getPoint(const double s, const bool denormalize_s) const .x(start_point.x + getVector().x * s_normalized) .y(start_point.y + getVector().y * s_normalized) .z(start_point.z + getVector().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(), + " This message is not originally intended to be displayed, if you see it, please " + "contact the developer of traffic_simulator."); } 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(), - " 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(), - " This message is not originally intended to be displayed, if you see it, please " - "contact the developer of traffic_simulator."); - } + 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(), + " This message is not originally intended to be displayed, if you see it, please " + "contact the developer of traffic_simulator."); } } From 0bf70d730569cc139c1410f84f9edfb03d6007b7 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 23 Aug 2024 18:09:03 +0900 Subject: [PATCH 167/304] Update .github/workflows/Docker.yaml Co-authored-by: Kotaro Yoshimoto --- .github/workflows/Docker.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Docker.yaml b/.github/workflows/Docker.yaml index 8f29d67e16d..1a735ccaf7d 100644 --- a/.github/workflows/Docker.yaml +++ b/.github/workflows/Docker.yaml @@ -41,7 +41,7 @@ jobs: - name: Install QEMU uses: docker/setup-qemu-action@v3 - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Login to GitHub Container Registry uses: docker/login-action@v2 From 2c9a7aef074d3781daf7c7f0cc76234fb6df25f9 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 23 Aug 2024 18:27:19 +0900 Subject: [PATCH 168/304] Update .github/workflows/Docker.yaml Co-authored-by: Kotaro Yoshimoto --- .github/workflows/Docker.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/Docker.yaml b/.github/workflows/Docker.yaml index 1a735ccaf7d..4c2cad55c6e 100644 --- a/.github/workflows/Docker.yaml +++ b/.github/workflows/Docker.yaml @@ -6,6 +6,7 @@ on: - "!docs/**" - "!README.md" - "!CONTRIBUTING.md" + - "!.github/**" - ".github/workflows/Docker.yaml" - "!mkdocs.yml" - "!pyproject.toml" From 571a6cc48d951e62d0b2546e02e2147839e161fb Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 23 Aug 2024 18:53:10 +0900 Subject: [PATCH 169/304] use output Signed-off-by: Masaya Kataoka --- .github/workflows/Release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index c3812e1f187..89173eaf5ad 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -152,4 +152,4 @@ jobs: -H "Authorization: token ${{ secrets.BLOOM_GITHUB_TOKEN }}" \ -H "X-GitHub-Api-Version: 2022-11-28" \ https://api.github.com/repos/merge-queue-testing/scenario_simulator_v2/actions/workflows/Docker.yaml/dispatches \ - -d '{"ref":"master","inputs":{"version":"3.5.2"}}' + -d '{"ref":"master","inputs":{"version":"${{ steps.get_release_description.outputs.stdout }}"}}' From c0681caa4c1db5a7f6577e6c53b0574ca541cef4 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 26 Aug 2024 10:39:36 +0900 Subject: [PATCH 170/304] update json Signed-off-by: Masaya Kataoka --- .github/workflows/Release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index 89173eaf5ad..e10ed1d84ac 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -152,4 +152,4 @@ jobs: -H "Authorization: token ${{ secrets.BLOOM_GITHUB_TOKEN }}" \ -H "X-GitHub-Api-Version: 2022-11-28" \ https://api.github.com/repos/merge-queue-testing/scenario_simulator_v2/actions/workflows/Docker.yaml/dispatches \ - -d '{"ref":"master","inputs":{"version":"${{ steps.get_release_description.outputs.stdout }}"}}' + -d '{\"ref\":\"master\",\"inputs\":{\"version\":\"${{ steps.get_release_description.outputs.stdout }}\"}}' From b431e90f96240e25148df22e2103dde5991f09c9 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 26 Aug 2024 13:44:47 +0900 Subject: [PATCH 171/304] change argument Signed-off-by: Masaya Kataoka --- .github/workflows/Release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index e10ed1d84ac..d6686624fd7 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -152,4 +152,4 @@ jobs: -H "Authorization: token ${{ secrets.BLOOM_GITHUB_TOKEN }}" \ -H "X-GitHub-Api-Version: 2022-11-28" \ https://api.github.com/repos/merge-queue-testing/scenario_simulator_v2/actions/workflows/Docker.yaml/dispatches \ - -d '{\"ref\":\"master\",\"inputs\":{\"version\":\"${{ steps.get_release_description.outputs.stdout }}\"}}' + -d '{\"ref\":\"master\",\"inputs\":{\"version\":\"${{ steps.new_version.outputs.new_version }}\"}}' From 7450367766464df873c3957bb228290539c119b7 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 26 Aug 2024 14:00:17 +0900 Subject: [PATCH 172/304] remove escape Signed-off-by: Masaya Kataoka --- .github/workflows/Release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index d6686624fd7..05d646d8cfa 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -152,4 +152,4 @@ jobs: -H "Authorization: token ${{ secrets.BLOOM_GITHUB_TOKEN }}" \ -H "X-GitHub-Api-Version: 2022-11-28" \ https://api.github.com/repos/merge-queue-testing/scenario_simulator_v2/actions/workflows/Docker.yaml/dispatches \ - -d '{\"ref\":\"master\",\"inputs\":{\"version\":\"${{ steps.new_version.outputs.new_version }}\"}}' + -d '{"ref":"master","inputs":{"version":"${{ steps.new_version.outputs.new_version }}"}}' From 24ec02471322879021781fcf3a40433eb9f32bb8 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Mon, 26 Aug 2024 06:54:35 +0000 Subject: [PATCH 173/304] Bump version of scenario_simulator_v2 from version 3.5.2 to version 3.5.3 --- common/math/arithmetic/CHANGELOG.rst | 8 ++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 8 ++++++++ common/math/geometry/package.xml | 2 +- .../scenario_simulator_exception/CHANGELOG.rst | 8 ++++++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 8 ++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 8 ++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 8 ++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 8 ++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 8 ++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 8 ++++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 8 ++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 8 ++++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++++++ .../package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 8 ++++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 8 ++++++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++++++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 8 ++++++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 8 ++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 8 ++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 8 ++++++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 8 ++++++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 8 ++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 17 +++++++++++++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 8 ++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 8 ++++++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 8 ++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 270 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index e6143092224..d5cdf085045 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 018ff9fb011..ad71f08769a 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.5.2 + 3.5.3 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 ef2f91fbdb1..5885a8312dd 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index e6a5e7a7188..cc2e1cbdfff 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.5.2 + 3.5.3 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index d4d80b71f2b..1039bd379fb 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 4d092356a5a..67fcb60a568 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.5.2 + 3.5.3 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 9818ba53118..df549834566 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 4ab46e09f15..0247d4d5e8b 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.5.2 + 3.5.3 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 e39b9ece0eb..d7f12fc6be0 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index f57550fbcc6..acc92ec16a9 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.5.2 + 3.5.3 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 8dc1e06f8ea..44a8b9df790 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge pull request `#1338 `_ from tier4/fix/interpreter/user-defined-value-condition diff --git a/external/concealer/package.xml b/external/concealer/package.xml index a81b6c11749..c8efe8047fe 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.5.2 + 3.5.3 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 bbfb8cd28ea..2bf8de40977 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,14 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 886e2ad4790..59ee7f07864 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.5.2 + 3.5.3 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 44adc3b2a99..b07a9b4888a 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 2e7eadce210..5dea47966cb 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.5.2 + 3.5.3 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 79f743c227e..6815e2f60c9 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,14 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 99e5424db70..bb0898e739f 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.5.2 + 3.5.3 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 87db40be421..ee76ec7d322 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 9f219e0de12..896499f1b84 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.5.2 + 3.5.3 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 708e2e2a241..0e647aaa997 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 20ae47e3ab9..2992fd5ba15 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.5.2 + 3.5.3 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 47d6db82b6b..1b9739cf5c5 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,14 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge pull request `#1338 `_ from tier4/fix/interpreter/user-defined-value-condition diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index cacd0286ec4..2aff49e8960 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.5.2 + 3.5.3 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 88191f5be71..472b0c8d739 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 1acb90e9b60..398177968bd 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.5.2 + 3.5.3 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 c3c48a56c77..0ce9a237677 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 9354299e92a..2fe049a5434 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.5.2 + 3.5.3 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 50bae38aae7..81d8e2e410f 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 08eba27169b..1aa6e64575b 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.5.2 + 3.5.3 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 c2543266cad..b3ee19603e4 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 8506186a487..ea03060c1cb 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.5.2 + 3.5.3 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 f4ba46753eb..9cafff75657 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,14 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index cd83ace688e..b052653092e 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.5.2 + 3.5.3 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 7d354995ab7..5862a955aad 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,14 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 90f04e5d258..d97006c053c 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.5.2 + 3.5.3 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 d60a2466e3e..69111cfa28a 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index ba83dacc798..e5e67ac0ea2 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.5.2 + 3.5.3 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 f8c796d649f..223867a2762 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 +21,14 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition 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 0b6d98faceb..81764f67368 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 - 3.5.2 + 3.5.3 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 9fc146c46a7..c85fcd501bd 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index eb0a5155109..da80c910f75 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.5.2 + 3.5.3 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 012e56d0e24..b2e26f043f4 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 1841f73241a..6f9738e7c34 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.5.2 + 3.5.3 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 c9692148509..567bc7f56cd 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index c765f33b88f..61cbf087fbd 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.5.2 + 3.5.3 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 23f476b0df6..5e89dfec737 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index d51d3560824..b6c835fe1f7 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.5.2 + 3.5.3 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 39714c8a2c9..6f77e285edf 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 766331641db..ccae6e66df8 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.5.2 + 3.5.3 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 5482cfc1f80..66424413e29 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge pull request `#1340 `_ from tier4/RJD-1278/traffic_simulator-update + Rjd 1278/traffic simulator update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* spellcheck +* review changes +* test_traffic_light.cpp refactor, sort +* test_traffic_lights_manager.cpp refactor +* remove ros nodes +* test_simulation_clock.cpp refacton +* refactor test_helper.cpp file +* Contributors: Masaya Kataoka, Michał Ciasnocha, robomic + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 54f8e104ad5..871586b1346 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.5.2 + 3.5.3 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index d82f98feb99..dec262db986 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 3a3437091be..ecb075268f2 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.5.2 + 3.5.3 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 d2f9c7f28d4..35edaec6f7d 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge branch 'master' into fix/interpreter/user-defined-value-condition diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index d486c8b5fc8..a95f5ee6675 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.5.2 + 3.5.3 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 7598508b4af..6f6125ce848 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,14 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.3 (2024-08-26) +------------------ +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Merge branch 'master' into RJD-1278/traffic_simulator-update +* Contributors: Michał Ciasnocha + 3.5.2 (2024-08-23) ------------------ * Merge pull request `#1338 `_ from tier4/fix/interpreter/user-defined-value-condition diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index ee3961e5180..bf3ff00d3ed 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.5.2 + 3.5.3 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From c32adba435909a068b17932160f0e34e8f77b725 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 26 Aug 2024 16:00:40 +0900 Subject: [PATCH 174/304] update Release Action Signed-off-by: Masaya Kataoka --- .github/workflows/Release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml index 05d646d8cfa..7fd8180a2b9 100644 --- a/.github/workflows/Release.yaml +++ b/.github/workflows/Release.yaml @@ -151,5 +151,5 @@ jobs: -H "Accept: application/vnd.github+json" \ -H "Authorization: token ${{ secrets.BLOOM_GITHUB_TOKEN }}" \ -H "X-GitHub-Api-Version: 2022-11-28" \ - https://api.github.com/repos/merge-queue-testing/scenario_simulator_v2/actions/workflows/Docker.yaml/dispatches \ + https://api.github.com/repos/tier4/scenario_simulator_v2/actions/workflows/Docker.yaml/dispatches \ -d '{"ref":"master","inputs":{"version":"${{ steps.new_version.outputs.new_version }}"}}' From 5eb34e7cc8ceed9679b6b0311bb4bf4ce2feb4bf Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 26 Aug 2024 16:46:15 +0900 Subject: [PATCH 175/304] chore: add a test for corner case --- simulation/traffic_simulator/package.xml | 1 + .../test/src/hdmap_utils/test_hdmap_utils.cpp | 28 +++++++++++++++++++ 2 files changed, 29 insertions(+) diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 54f8e104ad5..69ca1eed853 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -51,6 +51,7 @@ ament_cmake_lint_cmake ament_cmake_pep257 ament_cmake_xmllint + kashiwanoha_map ament_cmake diff --git a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp index 31c18a22a62..93512bda08d 100644 --- a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp +++ b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp @@ -109,6 +109,21 @@ class HdMapUtilsTest_CrossroadsWithStoplinesMap : public testing::Test hdmap_utils::HdMapUtils hdmap_utils; }; +class HdMapUtilsTest_KashiwanohaMap : public testing::Test +{ +protected: + HdMapUtilsTest_KashiwanohaMap() + : hdmap_utils(hdmap_utils::HdMapUtils( + ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map/lanelet2_map.osm", + geographic_msgs::build() + .latitude(0.0) + .longitude(0.0) + .altitude(0.0))) + { + } + + hdmap_utils::HdMapUtils hdmap_utils; +}; /** * @note Test basic functionality. * Test initialization correctness with a correct path to a lanelet map. @@ -2024,6 +2039,19 @@ TEST_F(HdMapUtilsTest_FourTrackHighwayMap, getLongitudinalDistance_differentLane hdmap_utils.getLongitudinalDistance(pose_from.value(), pose_to.value(), false).has_value()); } +/** + * @note Test for the corner-case fixed in https://github.com/tier4/scenario_simulator_v2/pull/1348. + */ +TEST_F(HdMapUtilsTest_KashiwanohaMap, getLongitudinalDistance_PullRequest1348) +{ + auto pose_from = traffic_simulator::helper::constructLaneletPose(34468, 10.0); + auto pose_to = traffic_simulator::helper::constructLaneletPose(34795, 5.0); + + EXPECT_NO_THROW(EXPECT_DOUBLE_EQ( + hdmap_utils.getLongitudinalDistance(pose_from, pose_to, true).value(), + 54.18867466433655977198213804513216018676757812500000)); +} + /** * @note Test basic functionality. * Test obtaining stop line ids correctness with a route that has no stop lines. From c09934e672a0bee93f131c03bb02e34871b42b74 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 26 Aug 2024 18:17:58 +0900 Subject: [PATCH 176/304] enabel calculate angular accel and jerk Signed-off-by: Masaya Kataoka --- simulation/do_nothing_plugin/src/plugin.cpp | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/simulation/do_nothing_plugin/src/plugin.cpp b/simulation/do_nothing_plugin/src/plugin.cpp index f606392fb9a..15ec1418b2d 100644 --- a/simulation/do_nothing_plugin/src/plugin.cpp +++ b/simulation/do_nothing_plugin/src/plugin.cpp @@ -13,6 +13,8 @@ // limitations under the License. #include +#include +#include #include #include #include @@ -98,15 +100,23 @@ auto interpolateEntityStatusFromPolylineTrajectory( const auto linear_jerk = (entity_status->getAccel().linear.x - linear_acceleration) / (v1.time - v0.time); + const double angular_velocity = + math::geometry::convertQuaternionToEulerAngle( + math::geometry::getRotation(v0.position.orientation, v1.position.orientation)) + .z; + const auto angular_acceleration = + (entity_status->getTwist().angular.x - angular_velocity) / (v1.time - v0.time); + interpolated_entity_status.action_status.twist = geometry_msgs::build() .linear(geometry_msgs::build().x(linear_velocity).y(0).z(0)) - .angular(geometry_msgs::build().x(0).y(0).z(0)); + .angular(geometry_msgs::build().x(angular_velocity).y(0).z(0)); interpolated_entity_status.action_status.accel = geometry_msgs::build() .linear( geometry_msgs::build().x(linear_acceleration).y(0).z(0)) - .angular(geometry_msgs::build().x(0).y(0).z(0)); + .angular( + geometry_msgs::build().x(angular_acceleration).y(0).z(0)); interpolated_entity_status.action_status.linear_jerk = linear_jerk; return interpolated_entity_status; }; From 7c71fa0d56a9b4a3630f628fe51ef5c2e4a5969a Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Mon, 26 Aug 2024 14:28:27 +0200 Subject: [PATCH 177/304] Revert "feat(params): set use_sim_time default as True" This reverts commit da85edf4956083563715daa3d60f0da1f94a423d. --- .../simple_sensor_simulator/src/simple_sensor_simulator.cpp | 2 +- .../scenario_test_runner/launch/scenario_test_runner.launch.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp b/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp index a5d4a95c2d2..b762ac6453b 100644 --- a/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp +++ b/simulation/simple_sensor_simulator/src/simple_sensor_simulator.cpp @@ -231,7 +231,7 @@ auto ScenarioSimulator::spawnVehicleEntity( simulation_interface::toMsg(req.pose(), initial_status.pose); ego_entity_simulation_ = std::make_shared( initial_status, parameters, step_time_, hdmap_utils_, - get_parameter_or("use_sim_time", rclcpp::Parameter("use_sim_time", true)), + get_parameter_or("use_sim_time", rclcpp::Parameter("use_sim_time", false)), get_consider_acceleration_by_road_slope()); } else { vehicles_.emplace_back(req.parameters()); 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 961cd9a5f5d..4d0b80e55f3 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 @@ -81,7 +81,7 @@ def launch_setup(context, *args, **kwargs): scenario = LaunchConfiguration("scenario", default=Path("/dev/null")) sensor_model = LaunchConfiguration("sensor_model", default="") sigterm_timeout = LaunchConfiguration("sigterm_timeout", default=8) - use_sim_time = LaunchConfiguration("use_sim_time", default=True) + use_sim_time = LaunchConfiguration("use_sim_time", default=False) vehicle_model = LaunchConfiguration("vehicle_model", default="") # fmt: on From 0dee3c59cd7c25b218a17796fc0bcd5451ee09a3 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Mon, 26 Aug 2024 14:41:28 +0200 Subject: [PATCH 178/304] feat(use_sim_time): set default as false --- simulation/traffic_simulator/src/entity/ego_entity.cpp | 2 +- .../scenario_test_runner/launch/scenario_test_runner.launch.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index 40c770e2fd2..3b1694eee72 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -60,7 +60,7 @@ auto EgoEntity::makeFieldOperatorApplication( std::string((architecture_type >= "awf/universe/20230906") ? "true" : "false"), "use_sim_time:=" + std::string( - getParameter(node_parameters, "use_sim_time", true) ? "true" : "false")) + getParameter(node_parameters, "use_sim_time", false) ? "true" : "false")) : std::make_unique< concealer::FieldOperatorApplicationFor>(); } else { 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. From 501f6649176145f0dd69ba7f9a7c82866d6a7e18 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Mon, 26 Aug 2024 14:42:58 +0200 Subject: [PATCH 179/304] feat(doc): adapt doc to use_sim_time default as False --- docs/user_guide/scenario_test_runner/RealtimeFactor.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/user_guide/scenario_test_runner/RealtimeFactor.md b/docs/user_guide/scenario_test_runner/RealtimeFactor.md index 08c70f3249d..61aa1c3b180 100644 --- a/docs/user_guide/scenario_test_runner/RealtimeFactor.md +++ b/docs/user_guide/scenario_test_runner/RealtimeFactor.md @@ -42,7 +42,7 @@ It is possible to modify the speed of simulation (the speed of time published on ## Configure `use_sim_time` parameter -Parameter `use_sim_time` of `openscenario_interpreter` is true by default and can be modified by passing it using command line. +Parameter `use_sim_time` of `openscenario_interpreter` is **false** by default and can be modified by passing it using command line. ```bash @@ -53,7 +53,7 @@ Parameter `use_sim_time` of `openscenario_interpreter` is true by default and ca sensor_model:=sample_sensor_kit \ vehicle_model:=sample_vehicle \ global_real_time_factor:="0.5" \ - use_sim_time:=False + use_sim_time:=true ``` However, this impacts the time published on the `/clock` topic and the time used by `Autoware`. From 9ec6a4b1c9f51be8ae2677953b9ad9488b91b510 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Mon, 26 Aug 2024 13:44:09 +0000 Subject: [PATCH 180/304] Bump version of scenario_simulator_v2 from version 3.5.3 to version 3.5.4 --- common/math/arithmetic/CHANGELOG.rst | 8 ++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 8 ++++++++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 8 ++++++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 8 ++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 8 ++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 8 ++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 8 ++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 8 ++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 8 ++++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 8 ++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 8 ++++++++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 8 ++++++++ .../openscenario_interpreter_example/package.xml | 2 +- openscenario/openscenario_interpreter_msgs/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 8 ++++++++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../real_time_factor_control_rviz_plugin/CHANGELOG.rst | 8 ++++++++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 8 ++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 8 ++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 8 ++++++++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 8 ++++++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 8 ++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 8 ++++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 8 ++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 9 +++++++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 8 ++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 262 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index d5cdf085045..467c47fe864 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index ad71f08769a..46b7785af61 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.5.3 + 3.5.4 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 5885a8312dd..89ccf45a518 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index cc2e1cbdfff..f1fffa30b8d 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.5.3 + 3.5.4 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 1039bd379fb..1b43946e6b9 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 67fcb60a568..79e3c5275e0 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.5.3 + 3.5.4 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 df549834566..c1e0ed3d0b7 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 0247d4d5e8b..bb9246a5c99 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.5.3 + 3.5.4 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 d7f12fc6be0..60671a9b95e 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index acc92ec16a9..31549fef4d0 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.5.3 + 3.5.4 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 44a8b9df790..fbbee447a43 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/external/concealer/package.xml b/external/concealer/package.xml index c8efe8047fe..f72f33f6f00 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.5.3 + 3.5.4 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 2bf8de40977..8e5adc53cc8 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,14 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 59ee7f07864..5aceb9da6d6 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.5.3 + 3.5.4 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 b07a9b4888a..012ff0e86d8 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 5dea47966cb..71f5521b4d3 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.5.3 + 3.5.4 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 6815e2f60c9..76cb3e0ffde 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,14 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index bb0898e739f..ae69291a68e 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.5.3 + 3.5.4 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 ee76ec7d322..2388ab61f61 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 896499f1b84..5aa027dabfa 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.5.3 + 3.5.4 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 0e647aaa997..b93ba4c67dc 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 2992fd5ba15..52579a5a314 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.5.3 + 3.5.4 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 1b9739cf5c5..942b38865ca 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,14 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 2aff49e8960..bddb03798d1 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.5.3 + 3.5.4 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 472b0c8d739..e49baa04a82 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 398177968bd..b6dfae61436 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.5.3 + 3.5.4 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 0ce9a237677..0982794c22b 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 2fe049a5434..051f9bf690f 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.5.3 + 3.5.4 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 81d8e2e410f..26450c6c221 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 1aa6e64575b..883de3e4019 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.5.3 + 3.5.4 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 b3ee19603e4..daad6ed5a0c 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index ea03060c1cb..4137dc03397 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.5.3 + 3.5.4 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 9cafff75657..021f3c18dfb 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,14 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index b052653092e..94fe00e3f49 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.5.3 + 3.5.4 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 5862a955aad..37bbdaeef80 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,14 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index d97006c053c..804c7023e43 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.5.3 + 3.5.4 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 69111cfa28a..b8cbe34be33 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index e5e67ac0ea2..f8f21ccb236 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.5.3 + 3.5.4 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 223867a2762..dc7ebe4370a 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 +21,14 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update 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 81764f67368..bafebc256bf 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 - 3.5.3 + 3.5.4 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 c85fcd501bd..fbde618feba 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index da80c910f75..d509f074439 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.5.3 + 3.5.4 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 b2e26f043f4..46cb9fc6eb3 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 6f9738e7c34..d8aa1397a6e 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.5.3 + 3.5.4 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 567bc7f56cd..c69dad60f58 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 61cbf087fbd..8b93d7aaec0 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.5.3 + 3.5.4 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 5e89dfec737..13d459b31ec 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index b6c835fe1f7..76c52cbb8ff 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.5.3 + 3.5.4 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 6f77e285edf..aceae32f4e6 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index ccae6e66df8..84aa025158e 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.5.3 + 3.5.4 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 66424413e29..00755cffd6b 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge pull request `#1340 `_ from tier4/RJD-1278/traffic_simulator-update diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 871586b1346..c3d2af6d430 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.5.3 + 3.5.4 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index dec262db986..77cd19e3c59 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index ecb075268f2..ac5e3f83550 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.5.3 + 3.5.4 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 35edaec6f7d..c1cb5787edd 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* remove \n +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index a95f5ee6675..88e9d090a7f 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.5.3 + 3.5.4 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 6f6125ce848..0bcaa51945b 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,14 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.4 (2024-08-26) +------------------ +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/use_workflow_dispatch_in_docker_build +* Merge remote-tracking branch 'origin/master' into feature/trigger_docker_build_by_tag +* Contributors: Masaya Kataoka + 3.5.3 (2024-08-26) ------------------ * Merge branch 'master' into RJD-1278/traffic_simulator-update diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index bf3ff00d3ed..66278236c94 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.5.3 + 3.5.4 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From b136c8429d6ca99c0179e3fc14f19f679c6914d5 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Tue, 27 Aug 2024 02:20:46 +0000 Subject: [PATCH 181/304] Bump version of scenario_simulator_v2 from version 3.5.4 to version 3.5.5 --- common/math/arithmetic/CHANGELOG.rst | 8 ++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 8 ++++++++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 8 ++++++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 8 ++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 8 ++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 8 ++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 8 ++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 8 ++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 8 ++++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 8 ++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 8 ++++++++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 8 ++++++++ .../openscenario_interpreter_example/package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 8 ++++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 8 ++++++++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 8 ++++++++ openscenario/openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 8 ++++++++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++++++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 8 ++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 8 ++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 8 ++++++++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 8 ++++++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 8 ++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 12 ++++++++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 8 ++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 8 ++++++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 11 +++++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 268 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 467c47fe864..8d95f2507bf 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 46b7785af61..80822986ba2 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.5.4 + 3.5.5 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 89ccf45a518..8d6f6602bf9 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index f1fffa30b8d..ab400ec03a7 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.5.4 + 3.5.5 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 1b43946e6b9..63833bad90b 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 79e3c5275e0..3ef06abc051 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.5.4 + 3.5.5 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 c1e0ed3d0b7..4e42bf48f5b 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index bb9246a5c99..208e16e125e 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.5.4 + 3.5.5 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 60671a9b95e..ef178805641 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 31549fef4d0..1ea1e1962d5 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.5.4 + 3.5.5 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index fbbee447a43..496b5cc1478 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/external/concealer/package.xml b/external/concealer/package.xml index f72f33f6f00..f9d1b400e66 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.5.4 + 3.5.5 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 8e5adc53cc8..8500522b236 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,14 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 5aceb9da6d6..c190c5d3bb9 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.5.4 + 3.5.5 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 012ff0e86d8..7356e061c79 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 71f5521b4d3..6ca6d218b1b 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.5.4 + 3.5.5 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 76cb3e0ffde..506f5b401e8 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,14 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index ae69291a68e..916ccdb0f93 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.5.4 + 3.5.5 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 2388ab61f61..2ad6a3324e6 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 5aa027dabfa..51337dcd9d9 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.5.4 + 3.5.5 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 b93ba4c67dc..83ddd710daf 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 52579a5a314..9d0beec7acd 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.5.4 + 3.5.5 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 942b38865ca..7f9d432ec0b 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,14 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index bddb03798d1..e3675d53fe6 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.5.4 + 3.5.5 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 e49baa04a82..19793ec1e0c 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index b6dfae61436..cc446b72940 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.5.4 + 3.5.5 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 0982794c22b..1d18fc6d4eb 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 051f9bf690f..991f3c93ce0 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.5.4 + 3.5.5 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 26450c6c221..3140170a4b2 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 883de3e4019..055c3084485 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.5.4 + 3.5.5 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 daad6ed5a0c..51e7aac4ed4 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 4137dc03397..cc559bbb190 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.5.4 + 3.5.5 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 021f3c18dfb..9231435207e 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,14 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 94fe00e3f49..38e808f3336 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.5.4 + 3.5.5 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 37bbdaeef80..f3d7e494552 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,14 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 804c7023e43..935ec6e7754 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.5.4 + 3.5.5 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 b8cbe34be33..6ae1cf64306 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index f8f21ccb236..169d8665dd2 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.5.4 + 3.5.5 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 dc7ebe4370a..7beaae2ee0b 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 +21,14 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build 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 bafebc256bf..b6e1e8d7902 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 - 3.5.4 + 3.5.5 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 fbde618feba..c110372ee31 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index d509f074439..1e3b0acf02c 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.5.4 + 3.5.5 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 46cb9fc6eb3..201793a253b 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index d8aa1397a6e..89b5ac53c57 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.5.4 + 3.5.5 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 c69dad60f58..bce71b331ee 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 8b93d7aaec0..ce8938e06e9 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.5.4 + 3.5.5 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 13d459b31ec..0a6bd102f62 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 76c52cbb8ff..428a93898de 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.5.4 + 3.5.5 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index aceae32f4e6..8627664b6d1 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 84aa025158e..adc700b1520 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.5.4 + 3.5.5 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 00755cffd6b..779539af957 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge pull request `#1348 `_ from tier4/fix/distance-with-lane-change + Fix longitudinal dintance calculation with lane-change in `HdMapUtils::getLongitudinalDistance` +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* chore: add a test for corner case +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* fix: longitudinal calculation with lane-change +* Contributors: Kotaro Yoshimoto, Masaya Kataoka + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 68d94caf6fc..696eb1f705e 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.5.4 + 3.5.5 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 77cd19e3c59..61a5fd96f0e 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index ac5e3f83550..2e37ee59a73 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.5.4 + 3.5.5 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 c1cb5787edd..a913aa6c3e4 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Contributors: Kotaro Yoshimoto + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 88e9d090a7f..05192a782a7 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.5.4 + 3.5.5 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 0bcaa51945b..01a260b2f93 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,17 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +3.5.5 (2024-08-27) +------------------ +* Merge pull request `#1348 `_ from tier4/fix/distance-with-lane-change + Fix longitudinal dintance calculation with lane-change in `HdMapUtils::getLongitudinalDistance` +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* Merge branch 'master' into fix/distance-with-lane-change +* chore: add corner case to fix into a scenario +* Contributors: Kotaro Yoshimoto, Masaya Kataoka + 3.5.4 (2024-08-26) ------------------ * Merge branch 'master' into feature/use_workflow_dispatch_in_docker_build diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 66278236c94..803393bef42 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.5.4 + 3.5.5 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 7fad45b19f8766a9498ade2694f0292c755233b9 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 27 Aug 2024 12:18:44 +0900 Subject: [PATCH 182/304] add angular velocity / acceleration as z axis value Signed-off-by: Masaya Kataoka --- simulation/do_nothing_plugin/src/plugin.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/simulation/do_nothing_plugin/src/plugin.cpp b/simulation/do_nothing_plugin/src/plugin.cpp index 15ec1418b2d..7366a4d6c57 100644 --- a/simulation/do_nothing_plugin/src/plugin.cpp +++ b/simulation/do_nothing_plugin/src/plugin.cpp @@ -103,20 +103,21 @@ auto interpolateEntityStatusFromPolylineTrajectory( const double angular_velocity = math::geometry::convertQuaternionToEulerAngle( math::geometry::getRotation(v0.position.orientation, v1.position.orientation)) - .z; + .z / + (v1.time - v0.time); const auto angular_acceleration = (entity_status->getTwist().angular.x - angular_velocity) / (v1.time - v0.time); interpolated_entity_status.action_status.twist = geometry_msgs::build() .linear(geometry_msgs::build().x(linear_velocity).y(0).z(0)) - .angular(geometry_msgs::build().x(angular_velocity).y(0).z(0)); + .angular(geometry_msgs::build().x(0).y(0).z(angular_velocity)); interpolated_entity_status.action_status.accel = geometry_msgs::build() .linear( geometry_msgs::build().x(linear_acceleration).y(0).z(0)) .angular( - geometry_msgs::build().x(angular_acceleration).y(0).z(0)); + geometry_msgs::build().x(0).y(0).z(angular_acceleration)); interpolated_entity_status.action_status.linear_jerk = linear_jerk; return interpolated_entity_status; }; From 9c838f75089a3c1dd1e4c83babc273b01b07ba2d Mon Sep 17 00:00:00 2001 From: Release Bot Date: Tue, 27 Aug 2024 10:01:15 +0000 Subject: [PATCH 183/304] Bump version of scenario_simulator_v2 from version 3.5.5 to version 4.0.0 --- common/math/arithmetic/CHANGELOG.rst | 29 ++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 29 ++++++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 29 ++++++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 29 ++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 29 ++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 29 ++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 29 ++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 29 ++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 17 +++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 34 ++++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 29 ++++++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 30 +++++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 29 ++++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 29 ++++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 29 ++++++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 29 ++++++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 29 ++++++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 28 ++++++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 29 ++++++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 29 ++++++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 29 ++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 39 +++++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 36 ++++++++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 36 ++++++++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 33 ++++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 66 +++++++++++++++++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 29 ++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 33 ++++++++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 29 ++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 932 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 8d95f2507bf..7ebc997dc1d 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 80822986ba2..f36b46cbfda 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 3.5.5 + 4.0.0 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 8d6f6602bf9..5f3f3f94197 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index ab400ec03a7..2486fda3ffe 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 3.5.5 + 4.0.0 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 63833bad90b..53df0993865 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 3ef06abc051..bf139e1ecd1 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 3.5.5 + 4.0.0 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 4e42bf48f5b..8ac9b966391 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 208e16e125e..abe99788581 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 3.5.5 + 4.0.0 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 ef178805641..d6814bcac78 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 1ea1e1962d5..0222a5f57c4 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 3.5.5 + 4.0.0 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 496b5cc1478..159b43145f5 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/external/concealer/package.xml b/external/concealer/package.xml index f9d1b400e66..c17301dc530 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 3.5.5 + 4.0.0 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 8500522b236..d89c788e526 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,35 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index c190c5d3bb9..259540e6c57 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 3.5.5 + 4.0.0 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 7356e061c79..1187e9f6ed8 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 6ca6d218b1b..7ba96bd7c5f 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 3.5.5 + 4.0.0 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 506f5b401e8..421f52a5de8 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,23 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 916ccdb0f93..440ac51157e 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 3.5.5 + 4.0.0 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 2ad6a3324e6..7fad4612f32 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,40 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status + ref(behavior_tree, traffic_simulator): move responsibility for canonicalization to traffic_simulator, simplify +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* ref(traffic_simulator): use getCanonicalizedStatus, remove getStatus +* feat(cpp_mock_scenarios): add isPedestrain and isVehicle - use it +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* fix(cpp_mack_utils): adapt define_traffic_source scenarios to getEntity() +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 51337dcd9d9..78ffc9d6fd4 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 3.5.5 + 4.0.0 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 83ddd710daf..0a9c26fab87 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 9d0beec7acd..ea6780a3616 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 3.5.5 + 4.0.0 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 7f9d432ec0b..010cf5eda15 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,36 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index e3675d53fe6..1a3246c0132 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 3.5.5 + 4.0.0 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 19793ec1e0c..c106ea65721 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index cc446b72940..8eaba7e3bea 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 3.5.5 + 4.0.0 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 1d18fc6d4eb..80d11b578bb 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 991f3c93ce0..8951c8831c9 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 3.5.5 + 4.0.0 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 3140170a4b2..652db237806 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 055c3084485..73870766efe 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 3.5.5 + 4.0.0 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 51e7aac4ed4..f221daad775 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index cc559bbb190..5c63864697d 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 3.5.5 + 4.0.0 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 9231435207e..acd38f5b37e 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,35 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 38e808f3336..e1aea7aa002 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 3.5.5 + 4.0.0 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 f3d7e494552..e7ae08f6807 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,34 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 935ec6e7754..2f229820981 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 3.5.5 + 4.0.0 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 6ae1cf64306..c6c02437fdc 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 169d8665dd2..791d511ac19 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 3.5.5 + 4.0.0 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 7beaae2ee0b..baa0d2f10f5 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 +21,35 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change 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 b6e1e8d7902..40b8ecaf3db 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 - 3.5.5 + 4.0.0 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 c110372ee31..592d5e608b6 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 1e3b0acf02c..c8b28412525 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 3.5.5 + 4.0.0 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 201793a253b..8fd62dccc89 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,45 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status + ref(behavior_tree, traffic_simulator): move responsibility for canonicalization to traffic_simulator, simplify +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* ref(behavior_tree): remove unused variable +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* ref(behavior_tree): use CanonicalizedEntityStatus as shared_ptr inside BT and use ::set +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* ref(behavior_tree_plugin): rename updated_status variable +* ref(traffic_simulator, behavior_tree_plugin): revert unnecessary changes +* fix(traffic_simulator, behavior_tree_plugin): fix returned EntityStatus from bt, fix canonicalize in vehicle_entity and pedestrian_entity +* feat(behavior_tree_plugin, entity_base): move toCanonicalizedEntityPose to traffic_simulator, use EntityStatus as updated_state in BehaviorTree +* feat(traffic_simulator): use CanonicalizedEntityStatus only with single constructor +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* tmp +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 89b5ac53c57..453923e6f45 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 3.5.5 + 4.0.0 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 bce71b331ee..6cf17db778d 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status + ref(behavior_tree, traffic_simulator): move responsibility for canonicalization to traffic_simulator, simplify +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* ref(behavior_tree): use CanonicalizedEntityStatus as shared_ptr inside BT and use ::set +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* ref(do_notching_plugin): remove unecessary comment +* feat(behavior_tree_plugin, entity_base): move toCanonicalizedEntityPose to traffic_simulator, use EntityStatus as updated_state in BehaviorTree +* feat(traffic_simulator): use CanonicalizedEntityStatus only with single constructor +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* tmp +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index ce8938e06e9..b8fc31e0732 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 3.5.5 + 4.0.0 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 0a6bd102f62..0248e9bcee9 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,42 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status + ref(behavior_tree, traffic_simulator): move responsibility for canonicalization to traffic_simulator, simplify +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* doc(developer_guide, traffic_simulator): update doc after review changes, add code notes +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* doc(developer_guide, pose utils): adopt lane_pose_calculation doc to canonicalization laneletpose in CanonicalizedEntityStatus +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* ref(traffic_simulator): move toCanonicalizeLaneletPose to CanonicalizedEntityStatus::set, little tidy up +* ref(traffic_simulator): remove operator= for CanonicalizedEntityStatus, use set and assertions +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 428a93898de..1581fb4e23c 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 3.5.5 + 4.0.0 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 8627664b6d1..72af712e74a 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,39 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* fix(conversions, behavior_plugin_base): add new line at the end +* ref(traffic_simulator, behavior_tree_plugin): revert unnecessary changes +* feat(traffic_simulator): use CanonicalizedEntityStatus only with single constructor +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index adc700b1520..bd51d39719f 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 3.5.5 + 4.0.0 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 779539af957..95fbb110a65 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,72 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status + ref(behavior_tree, traffic_simulator): move responsibility for canonicalization to traffic_simulator, simplify +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* doc(distance): use doxygen format + Co-authored-by: Masaya Kataoka +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Fix EgoEntity bug where status time was incremented only when Ego was controlled by simulator + This bug lead to problems in other checks which relied on the correct status time +* Fix EgoEntity error where map pose was unable to be set after scenario start, which should be possible for Ego +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* ref(behavior_tree): use CanonicalizedEntityStatus as shared_ptr inside BT and use ::set +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* fix(ego_entity): fix setMapPose +* ref(traffic_simulator): remove souvenir +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* fix(spell): fix string in api +* feat(traffic_simulator, entity_base): improve setStatus - add passing lanelet_id - use it +* ref(traffic_simulator): use getCanonicalizedStatus, remove getStatus +* ref(traffic_simulator): remove virutla getEntityType, tidy up CanonicalizedEntityStatus getters +* feat(cpp_mock_scenarios): add isPedestrain and isVehicle - use it +* ref(utils, pose): global use pose:: namespace +* fix(traffic_simulator): apply clang reformat +* ref(traffic_simulator): improve CanonicalizedEntityStatus getters - use const ref +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* ref(entity_base): fix retuned type def, fix typo +* doc(developer_guide, traffic_simulator): update doc after review changes, add code notes +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* fix(traffic_simulator): fix helper_functions for tests and misc object tests +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* fix(follow_trajectory_action): fix after merge FTA changes +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* doc(developer_guide, pose utils): adopt lane_pose_calculation doc to canonicalization laneletpose in CanonicalizedEntityStatus +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* fix(traffic_simulator): improve assertions in CanonicalizedEntityStatus::set +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* fix(conversions, behavior_plugin_base): add new line at the end +* ref(traffic_simulator): move toCanonicalizeLaneletPose to CanonicalizedEntityStatus::set, little tidy up +* fix(traffic_simulator): fix behavior_plugin_base +* ref(traffic_simulator, behavior_tree_plugin): revert unnecessary changes +* ref(traffic_simulator, behavior_tree_plugin): revert unnecessary changes +* ref(traffic_simulator): remove operator= for CanonicalizedEntityStatus, use set and assertions +* fix(traffic_simulator, behavior_tree_plugin): fix returned EntityStatus from bt, fix canonicalize in vehicle_entity and pedestrian_entity +* feat(behavior_tree_plugin, entity_base): move toCanonicalizedEntityPose to traffic_simulator, use EntityStatus as updated_state in BehaviorTree +* feat(traffic_simulator): use CanonicalizedEntityStatus only with single constructor +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* tmp +* ref(traffic_simulator): remove unnecessary cast to EnrityStatus in EntityManager and MicObjectEntity +* ref(traffic_simulator): remove unecessary casts to EntityStatus in EntityBase +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge pull request `#1348 `_ from tier4/fix/distance-with-lane-change diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 696eb1f705e..7f181b61180 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 3.5.5 + 4.0.0 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 61a5fd96f0e..2364c4edb1d 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 2e37ee59a73..b491f064996 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 3.5.5 + 4.0.0 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 a913aa6c3e4..c45dc19d818 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,39 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status + ref(behavior_tree, traffic_simulator): move responsibility for canonicalization to traffic_simulator, simplify +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* feat(traffic_simulator): use CanonicalizedEntityStatus only with single constructor +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* tmp +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge branch 'master' into fix/distance-with-lane-change diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 05192a782a7..de79b0549ea 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 3.5.5 + 4.0.0 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 01a260b2f93..290a3eb17cd 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,35 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.0 (2024-08-27) +------------------ +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' of https://github.com/tier4/scenario_simulator_v2 into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge branch 'ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Merge remote-tracking branch 'origin/ref/RJD-1053-implement-pose-utils' into ref/RJD-1053-set-update-canonicalized-entity-status +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk, Tatsuya Yamasaki + 3.5.5 (2024-08-27) ------------------ * Merge pull request `#1348 `_ from tier4/fix/distance-with-lane-change diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 803393bef42..0091b9e44d9 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 3.5.5 + 4.0.0 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 836540f81b2b01cae1e493e2aeecfb00836247d1 Mon Sep 17 00:00:00 2001 From: Mateusz Palczuk Date: Tue, 27 Aug 2024 18:13:57 +0200 Subject: [PATCH 184/304] Fix after using pointer to store entity status Signed-off-by: Mateusz Palczuk --- simulation/traffic_simulator/src/entity/ego_entity.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index 8a3dba65a4d..02ab5ff4ef3 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -268,7 +268,7 @@ auto EgoEntity::setBehaviorParameter( auto EgoEntity::requestSpeedChange(double value, bool /* continuous */) -> void { - if (status_.getTime() > 0.0) { + if (status_->getTime() > 0.0) { THROW_SEMANTIC_ERROR("You cannot set target speed to the ego vehicle after starting scenario."); } else { target_speed_ = value; From 5324a6748d1538de3718be57bc5aa646048c4e4c Mon Sep 17 00:00:00 2001 From: Release Bot Date: Wed, 28 Aug 2024 05:43:03 +0000 Subject: [PATCH 185/304] Bump version of scenario_simulator_v2 from version 4.0.0 to version 4.0.1 --- common/math/arithmetic/CHANGELOG.rst | 7 +++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 7 +++++++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 7 +++++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 7 +++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 7 +++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 7 +++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 7 +++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 7 +++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 7 +++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 7 +++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 7 +++++++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 7 +++++++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 7 +++++++ .../openscenario_interpreter_example/package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 7 +++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 7 +++++++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 7 +++++++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 7 +++++++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 7 +++++++ openscenario/openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 7 +++++++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 7 +++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 7 +++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 12 ++++++++++++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 7 +++++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 7 +++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 11 +++++++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 7 +++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 7 +++++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 7 +++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 241 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 7ebc997dc1d..f0cf2ec7855 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index f36b46cbfda..3625943a4d7 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.0.0 + 4.0.1 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 5f3f3f94197..611fb339998 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 2486fda3ffe..87539646efd 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.0.0 + 4.0.1 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 53df0993865..5b706727192 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index bf139e1ecd1..8daac31a5d8 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.0.0 + 4.0.1 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 8ac9b966391..a1aaf142434 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index abe99788581..459a77350d7 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.0.0 + 4.0.1 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 d6814bcac78..34e1cfdb571 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 0222a5f57c4..36e7e7bb9cc 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.0.0 + 4.0.1 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 159b43145f5..bdb4a51fba2 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/external/concealer/package.xml b/external/concealer/package.xml index c17301dc530..73b37aa2a0b 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.0.0 + 4.0.1 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 d89c788e526..21b51ed81e4 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,13 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 259540e6c57..58f9588ef97 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.0.0 + 4.0.1 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 1187e9f6ed8..cfc1b88fe46 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 7ba96bd7c5f..9dd1feb8811 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.0.0 + 4.0.1 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 421f52a5de8..7e0c7ebe807 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,13 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 440ac51157e..e677dc10515 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.0.0 + 4.0.1 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 7fad4612f32..04522f2e6a5 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 78ffc9d6fd4..6b6bd72812f 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.0.0 + 4.0.1 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 0a9c26fab87..0cc316e9b5d 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index ea6780a3616..e57ddb23587 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.0.0 + 4.0.1 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 010cf5eda15..e241f116058 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,13 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 1a3246c0132..a10be27cf5f 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.0.0 + 4.0.1 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 c106ea65721..073fc6723e6 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 8eaba7e3bea..ce15c7e10e6 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.0.0 + 4.0.1 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 80d11b578bb..75b6a57ddc1 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 8951c8831c9..ec4cbe4de0c 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.0.0 + 4.0.1 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 652db237806..d432795c645 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 73870766efe..b143a04b9cc 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.0.0 + 4.0.1 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 f221daad775..486258b6f6e 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 5c63864697d..49c22a096e1 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.0.0 + 4.0.1 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 acd38f5b37e..9e6a0cff55c 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,13 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index e1aea7aa002..bddd78b888a 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.0.0 + 4.0.1 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 e7ae08f6807..dbc02ffa15e 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,13 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 2f229820981..727d84b215e 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.0.0 + 4.0.1 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 c6c02437fdc..e9030b9e398 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 791d511ac19..bf087c6d752 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.0.0 + 4.0.1 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 baa0d2f10f5..76196479a03 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 +21,13 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status 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 40b8ecaf3db..a85e7d945cb 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 - 4.0.0 + 4.0.1 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 592d5e608b6..f4b6cded252 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index c8b28412525..341ff2f1148 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.0.0 + 4.0.1 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 8fd62dccc89..d626c620326 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 453923e6f45..73653dde912 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.0.0 + 4.0.1 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 6cf17db778d..3887770331c 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge pull request `#1354 `_ from tier4/fix/follow_trajectory + Fix follow trajectory action and timestamp in entity status +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* add angular velocity / acceleration as z axis value +* enabel calculate angular accel and jerk +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* fix interpolate ration calculation +* Contributors: Masaya Kataoka, Tatsuya Yamasaki + 4.0.0 (2024-08-27) ------------------ * Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index b8fc31e0732..532f61a26a1 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.0.0 + 4.0.1 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 0248e9bcee9..ff982390614 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 1581fb4e23c..ca7365c68ce 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.0.0 + 4.0.1 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 72af712e74a..54263df3416 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index bd51d39719f..3b64b4a5d50 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.0.0 + 4.0.1 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 95fbb110a65..1187b626236 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,17 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge pull request `#1354 `_ from tier4/fix/follow_trajectory + Fix follow trajectory action and timestamp in entity status +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* fix timestamp +* fix timestamp in status_with_trajectory +* Contributors: Masaya Kataoka, Tatsuya Yamasaki + 4.0.0 (2024-08-27) ------------------ * Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 7f181b61180..aa42fda39d0 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.0.0 + 4.0.1 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 2364c4edb1d..acdd6da5397 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index b491f064996..a5c656b0110 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.0.0 + 4.0.1 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 c45dc19d818..d55240d8255 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge pull request `#1320 `_ from tier4/ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index de79b0549ea..19052431620 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.0.0 + 4.0.1 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 290a3eb17cd..3334ed01d30 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,13 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.1 (2024-08-28) +------------------ +* Merge branch 'master' into fix/follow_trajectory +* Merge branch 'master' into fix/follow_trajectory +* Merge remote-tracking branch 'origin' into fix/follow_trajectory +* Contributors: Masaya Kataoka + 4.0.0 (2024-08-27) ------------------ * Merge branch 'master' into ref/RJD-1053-set-update-canonicalized-entity-status diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 0091b9e44d9..ad38e922e42 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.0.0 + 4.0.1 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 10fbcd9a2a91e419755d6790fe60f8bc9c94dc4d Mon Sep 17 00:00:00 2001 From: Release Bot Date: Wed, 28 Aug 2024 10:01:24 +0000 Subject: [PATCH 186/304] Bump version of scenario_simulator_v2 from version 4.0.1 to version 4.0.2 --- common/math/arithmetic/CHANGELOG.rst | 12 +++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 12 +++++++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 12 +++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 12 +++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 12 +++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 12 +++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 12 +++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 8 ++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 12 +++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 12 +++++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 12 +++++++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 12 +++++++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 12 +++++++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 12 +++++++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 12 +++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 16 ++++++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 12 +++++++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 12 +++++++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 12 +++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 26 +++++++++++++++++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 12 +++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 12 +++++++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 12 +++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 391 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index f0cf2ec7855..3eea6a621bf 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 3625943a4d7..e1ae74a387f 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.0.1 + 4.0.2 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 611fb339998..cea9d9379a5 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 87539646efd..ee62a7ba900 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.0.1 + 4.0.2 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 5b706727192..4de288d7dca 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 8daac31a5d8..3573be7471a 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.0.1 + 4.0.2 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 a1aaf142434..d6d8048199f 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 459a77350d7..aa67db709cf 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.0.1 + 4.0.2 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 34e1cfdb571..f784c5c6236 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 36e7e7bb9cc..b9a66438d63 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.0.1 + 4.0.2 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index bdb4a51fba2..ed3a6c4afa3 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 73b37aa2a0b..7e314b8d3fb 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.0.1 + 4.0.2 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 21b51ed81e4..1a8b4a358ff 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,18 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 58f9588ef97..0f3175ec285 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.0.1 + 4.0.2 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 cfc1b88fe46..fca9ead920c 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 9dd1feb8811..ce5a22479d0 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.0.1 + 4.0.2 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 7e0c7ebe807..d534602af7c 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,14 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index e677dc10515..7ec741ec654 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.0.1 + 4.0.2 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 04522f2e6a5..49e4d9aa494 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 6b6bd72812f..fc798c3714c 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.0.1 + 4.0.2 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 0cc316e9b5d..985452638a4 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index e57ddb23587..915d879417b 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.0.1 + 4.0.2 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 e241f116058..24bc48c0316 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,18 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index a10be27cf5f..aa546ccfbf3 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.0.1 + 4.0.2 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 073fc6723e6..21ac7a73a13 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index ce15c7e10e6..9216e5aec59 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.0.1 + 4.0.2 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 75b6a57ddc1..a944ec8b220 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index ec4cbe4de0c..72051b931b5 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.0.1 + 4.0.2 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 d432795c645..ee268d19bdf 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index b143a04b9cc..2a1e3cca1ec 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.0.1 + 4.0.2 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 486258b6f6e..2f78e66db2d 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 49c22a096e1..6d098c0525e 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.0.1 + 4.0.2 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 9e6a0cff55c..87a358bbb86 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,18 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index bddd78b888a..fd2a6711791 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.0.1 + 4.0.2 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 dbc02ffa15e..5149084599a 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,18 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 727d84b215e..42b58938422 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.0.1 + 4.0.2 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 e9030b9e398..f46fd32c6de 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index bf087c6d752..9964516dfe8 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.0.1 + 4.0.2 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 76196479a03..14e511cde28 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 +21,18 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory 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 a85e7d945cb..ba5353a86a1 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 - 4.0.1 + 4.0.2 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 f4b6cded252..f59f51e5e8d 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 341ff2f1148..8a5d2fbfdf0 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.0.1 + 4.0.2 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 d626c620326..e22038f6eb4 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,22 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge pull request `#1356 `_ from tier4/RJD-1056-remove-current-time-step-time + Remove unused data members: current_time step_time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Trailing return type +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Add const to time argument in behavior +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Masaya Kataoka, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 73653dde912..e0cec8884ff 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.0.1 + 4.0.2 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 3887770331c..6b90ad05182 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge pull request `#1354 `_ from tier4/fix/follow_trajectory diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 532f61a26a1..bc4a3caa870 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.0.1 + 4.0.2 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 ff982390614..ded1c84e89d 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index ca7365c68ce..5781bd1431d 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.0.1 + 4.0.2 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 54263df3416..49ea5583645 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 3b64b4a5d50..46a303c53ca 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.0.1 + 4.0.2 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 1187b626236..398fa88980a 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,32 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge pull request `#1356 `_ from tier4/RJD-1056-remove-current-time-step-time + Remove unused data members: current_time step_time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Fix after using pointer to store entity status +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Resolve conflicts with stored time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Trailing return type +* Correct style - add else +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Add const to time argument in behavior +* Add const to time argument +* Use member instead of getter +* Revert to previous macro definition +* Move requestSpeedChange time check responsibility to EgoEntity and simplify +* Correct style +* Remove step_time\_ and current_time\_ data members from EntityManager + Adjust the code so that the time is managed in API only +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Masaya Kataoka, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge pull request `#1354 `_ from tier4/fix/follow_trajectory diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index aa42fda39d0..f638daa47b4 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.0.1 + 4.0.2 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index acdd6da5397..cd135290fc0 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index a5c656b0110..308f10ff0d4 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.0.1 + 4.0.2 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 d55240d8255..ecf12a30aba 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 19052431620..27cd06d1d4a 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.0.1 + 4.0.2 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 3334ed01d30..715fda21fa8 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,18 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.2 (2024-08-28) +------------------ +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'master' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-current-time-step-time +* Contributors: DMoszynski, Dawid Moszynski, Dawid Moszyński, Mateusz Palczuk + 4.0.1 (2024-08-28) ------------------ * Merge branch 'master' into fix/follow_trajectory diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index ad38e922e42..df4572a6dab 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.0.1 + 4.0.2 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From d6e847651d330ae4d2cc8f7a1cacc2c389e9b2fe Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Wed, 28 Aug 2024 15:23:18 +0200 Subject: [PATCH 187/304] feat(traffic_simulator): apply clang reforamt --- .../src/entity/pedestrian_entity.cpp | 8 +++----- .../traffic_simulator/src/entity/vehicle_entity.cpp | 11 ++++------- 2 files changed, 7 insertions(+), 12 deletions(-) diff --git a/simulation/traffic_simulator/src/entity/pedestrian_entity.cpp b/simulation/traffic_simulator/src/entity/pedestrian_entity.cpp index e73f2e101cd..e9b9572f895 100644 --- a/simulation/traffic_simulator/src/entity/pedestrian_entity.cpp +++ b/simulation/traffic_simulator/src/entity/pedestrian_entity.cpp @@ -12,12 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include - #include #include #include +#include +#include #include namespace traffic_simulator @@ -254,8 +253,7 @@ auto PedestrianEntity::onUpdate(const double current_time, const double step_tim behavior_plugin_ptr_->setCanonicalizedEntityStatus(status_); behavior_plugin_ptr_->setTargetSpeed(target_speed_); behavior_plugin_ptr_->setRouteLanelets(getRouteLanelets()); - /// @note CanonicalizedEntityStatus is updated here, it is not skipped even if isAtEndOfLanelets - /// return true + /// @note CanonicalizedEntityStatus is updated here, it is not skipped even if isAtEndOfLanelets return true behavior_plugin_ptr_->update(current_time, step_time); if (const auto canonicalized_lanelet_pose = status_->getCanonicalizedLaneletPose()) { if (pose::isAtEndOfLanelets(canonicalized_lanelet_pose.value(), hdmap_utils_ptr_)) { diff --git a/simulation/traffic_simulator/src/entity/vehicle_entity.cpp b/simulation/traffic_simulator/src/entity/vehicle_entity.cpp index ac936670feb..deb2a7225cf 100644 --- a/simulation/traffic_simulator/src/entity/vehicle_entity.cpp +++ b/simulation/traffic_simulator/src/entity/vehicle_entity.cpp @@ -12,14 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include - -#include - #include #include #include +#include +#include +#include #include namespace traffic_simulator @@ -147,8 +145,7 @@ auto VehicleEntity::onUpdate(const double current_time, const double step_time) } } behavior_plugin_ptr_->setReferenceTrajectory(spline_); - /// @note CanonicalizedEntityStatus is updated here, it is not skipped even if isAtEndOfLanelets - /// return true + /// @note CanonicalizedEntityStatus is updated here, it is not skipped even if isAtEndOfLanelets return true behavior_plugin_ptr_->update(current_time, step_time); if (const auto canonicalized_lanelet_pose = status_->getCanonicalizedLaneletPose()) { if (pose::isAtEndOfLanelets(canonicalized_lanelet_pose.value(), hdmap_utils_ptr_)) { From dda831d9e90246d04edffe698450c070d1dbd486 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Thu, 29 Aug 2024 04:54:04 +0000 Subject: [PATCH 188/304] Bump version of scenario_simulator_v2 from version 4.0.2 to version 4.0.3 --- common/math/arithmetic/CHANGELOG.rst | 17 ++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 17 ++++++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 17 ++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 17 ++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 17 ++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 17 ++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 17 ++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 11 ++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 17 ++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 17 ++++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 17 ++++++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 17 ++++++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 17 ++++++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 17 ++++++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 17 ++++++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 17 ++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 17 ++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 17 ++++++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 21 ++++++++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 17 ++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 39 +++++++++++++++++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 17 ++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 23 +++++++++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 17 ++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 548 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 3eea6a621bf..071415b7724 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index e1ae74a387f..1c29900b0a3 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.0.2 + 4.0.3 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 cea9d9379a5..032cc14a7ae 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index ee62a7ba900..ee5345b7bef 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.0.2 + 4.0.3 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 4de288d7dca..7fb97385a33 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 3573be7471a..923df025cbb 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.0.2 + 4.0.3 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 d6d8048199f..c4995f07eaa 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index aa67db709cf..cda6cfd917e 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.0.2 + 4.0.3 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 f784c5c6236..e01a2cb9f43 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index b9a66438d63..5c5d5e80609 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.0.2 + 4.0.3 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index ed3a6c4afa3..5c4a05c124b 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 7e314b8d3fb..3d7adca6741 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.0.2 + 4.0.3 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 1a8b4a358ff..81d4fb8e5ed 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,23 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 0f3175ec285..9edba4646ea 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.0.2 + 4.0.3 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 fca9ead920c..529fb96066e 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index ce5a22479d0..fedc916e65a 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.0.2 + 4.0.3 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 d534602af7c..a3e643fe4dd 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,17 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 7ec741ec654..b298b4db875 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.0.2 + 4.0.3 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 49e4d9aa494..a950f37148c 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index fc798c3714c..ffe16eb7901 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.0.2 + 4.0.3 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 985452638a4..6792d7c61a1 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 915d879417b..84fccf2740c 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.0.2 + 4.0.3 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 24bc48c0316..89f41eed6ba 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,23 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index aa546ccfbf3..fd0035e234c 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.0.2 + 4.0.3 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 21ac7a73a13..9ba2283cf5d 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 9216e5aec59..27ad47d7620 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.0.2 + 4.0.3 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 a944ec8b220..c8a3ac1ed5d 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 72051b931b5..9e5e69c92ad 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.0.2 + 4.0.3 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 ee268d19bdf..3d089f944fe 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 2a1e3cca1ec..7aeb238ce78 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.0.2 + 4.0.3 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 2f78e66db2d..3fb43fe4051 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 6d098c0525e..2aad028ee03 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.0.2 + 4.0.3 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 87a358bbb86..47440c02ecb 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,23 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index fd2a6711791..29bcf7248fd 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.0.2 + 4.0.3 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 5149084599a..b35540ce799 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,23 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 42b58938422..ddcc5bd312f 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.0.2 + 4.0.3 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 f46fd32c6de..83df7d0e31b 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 9964516dfe8..06b03052c70 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.0.2 + 4.0.3 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 14e511cde28..227f0183a4c 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 +21,23 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time 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 ba5353a86a1..a2cdb4f23ab 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 - 4.0.2 + 4.0.3 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 f59f51e5e8d..48cc5314ef2 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 8a5d2fbfdf0..79fba664888 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.0.2 + 4.0.3 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 e22038f6eb4..a84d1462e3e 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge pull request `#1356 `_ from tier4/RJD-1056-remove-current-time-step-time diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index e0cec8884ff..43c837d63c6 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.0.2 + 4.0.3 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 6b90ad05182..9389fb87965 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index bc4a3caa870..7e00ac22e1a 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.0.2 + 4.0.3 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 ded1c84e89d..a538f140727 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,27 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge pull request `#1358 `_ from tier4/RJD-1056-remove-npc-logic-started + Remove unused data members: npc_logic_started +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* ref(ego_entity_simulation): slight improve - add const, rename current_time +* fix(ego_entity): fix autoware update when not npc_logic_started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Masaya Kataoka, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 5781bd1431d..9103769b115 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.0.2 + 4.0.3 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 49ea5583645..73448aa0c12 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 46a303c53ca..325d8df7d6a 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.0.2 + 4.0.3 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 398fa88980a..d8c4e2bed5b 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,45 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge pull request `#1358 `_ from tier4/RJD-1056-remove-npc-logic-started + Remove unused data members: npc_logic_started +* feat(traffic_simulator): apply clang reforamt +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* fix(traffic_simulator): remove unnecessary misc_object tests +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* fix(ego_entity): fix autoware update when not npc_logic_started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Corrections for adapting removed npc logic started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Correct EntityManager::getCurrentAction +* Add else +* Trailing return type +* Use member instead of getter +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Forward isNpcLogicStarted to API and restore TestExecutor +* Add else +* Move implementation to cpp file +* Remove npc_logic_started from API +* Update NPC logic only when it has been started +* Correct style +* Restore previous getCurrentAction behavior +* Remove npc_logic_started from Entities +* Contributors: DMoszynski, Dawid Moszynski, Masaya Kataoka, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge pull request `#1356 `_ from tier4/RJD-1056-remove-current-time-step-time diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index f638daa47b4..0c811088089 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.0.2 + 4.0.3 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index cd135290fc0..77ddc0bc853 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,23 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 308f10ff0d4..2444a632eb7 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.0.2 + 4.0.3 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 ecf12a30aba..8e16a329471 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 +4.0.3 (2024-08-29) +------------------ +* Merge pull request `#1358 `_ from tier4/RJD-1056-remove-npc-logic-started + Remove unused data members: npc_logic_started +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Trailing return type +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Forward isNpcLogicStarted to API and restore TestExecutor +* Remove npc_logic_started from API +* Contributors: DMoszynski, Dawid Moszynski, Masaya Kataoka, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 27cd06d1d4a..e281411002d 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.0.2 + 4.0.3 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 715fda21fa8..9d40fbc6fa4 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,23 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.3 (2024-08-29) +------------------ +* Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'tier4/RJD-1056-remove-current-time-step-time' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/RJD-1056-remove-npc-logic-started' into RJD-1057-base +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge remote-tracking branch 'origin/ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Merge branch 'ref/RJD-1053-set-update-canonicalized-entity-status' into RJD-1056-remove-npc-logic-started +* Contributors: DMoszynski, Dawid Moszynski, Mateusz Palczuk + 4.0.2 (2024-08-28) ------------------ * Merge branch 'master' into RJD-1056-remove-current-time-step-time diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index df4572a6dab..14db4ea7f12 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.0.2 + 4.0.3 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 66baecfd61ddaaefe993a09602ae642f4f929594 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 29 Aug 2024 11:38:10 +0200 Subject: [PATCH 189/304] longitudinal distance tests --- .../traffic_simulator/test/CMakeLists.txt | 9 +- .../test/src/utils/CMakeLists.txt | 2 + .../test/src/utils/test_distance.cpp | 329 ++++++++++++++++++ 3 files changed, 336 insertions(+), 4 deletions(-) create mode 100644 simulation/traffic_simulator/test/src/utils/CMakeLists.txt create mode 100644 simulation/traffic_simulator/test/src/utils/test_distance.cpp diff --git a/simulation/traffic_simulator/test/CMakeLists.txt b/simulation/traffic_simulator/test/CMakeLists.txt index 713c8b40678..f60dfacda88 100644 --- a/simulation/traffic_simulator/test/CMakeLists.txt +++ b/simulation/traffic_simulator/test/CMakeLists.txt @@ -1,7 +1,8 @@ -add_subdirectory(src/traffic_lights) -add_subdirectory(src/helper) -add_subdirectory(src/entity) add_subdirectory(src/behavior) +add_subdirectory(src/entity) +add_subdirectory(src/hdmap_utils) +add_subdirectory(src/helper) add_subdirectory(src/job) add_subdirectory(src/simulation_clock) -add_subdirectory(src/hdmap_utils) +add_subdirectory(src/traffic_lights) +add_subdirectory(src/utils) diff --git a/simulation/traffic_simulator/test/src/utils/CMakeLists.txt b/simulation/traffic_simulator/test/src/utils/CMakeLists.txt new file mode 100644 index 00000000000..29fb6b608ab --- /dev/null +++ b/simulation/traffic_simulator/test/src/utils/CMakeLists.txt @@ -0,0 +1,2 @@ +ament_add_gtest(test_distance test_distance.cpp) +target_link_libraries(test_distance traffic_simulator) diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp new file mode 100644 index 00000000000..7fb03b977c7 --- /dev/null +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -0,0 +1,329 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include +#include +#include +#include +#include + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is impossible to calculate the distance, e.g. not connected lanelets + * and with allow_lane_change = false. + */ +TEST(distance, lateralDistance_impossible_noChange) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); + { + const auto result = traffic_simulator::distance::lateralDistance( + pose_from, pose_to, std::numeric_limits::infinity(), false, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, false, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is possible to calculate the distance + * and with allow_lane_change = false. + */ +TEST(distance, lateralDistance_possible_noChange) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(201L, 0.0, 0.0, hdmap_utils_ptr); + { + const auto result = traffic_simulator::distance::lateralDistance( + pose_from, pose_to, std::numeric_limits::infinity(), false, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), 0.0, std::numeric_limits::epsilon()); + } + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, false, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), 0.0, std::numeric_limits::epsilon()); + } +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is impossible to calculate the distance, e.g. not connected lanelets + * and with allow_lane_change = true. + */ +TEST(distance, lateralDistance_impossible_change) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + { + const auto result = traffic_simulator::distance::lateralDistance( + pose_from, pose_to, std::numeric_limits::infinity(), true, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, true, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is possible to calculate the distance + * and with allow_lane_change = true. + */ +TEST(distance, lateralDistance_possible_change) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); + constexpr double approx_distance = -3.0; + constexpr double tolerance = 0.5; + { + const auto result = traffic_simulator::distance::lateralDistance( + pose_from, pose_to, std::numeric_limits::infinity(), true, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, true, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is possible to calculate the distance, but matching_distance is too small. + */ +TEST(distance, lateralDistance_impossible_matching) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, 2.0, true, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is possible to calculate the distance and matching_distance is large. + */ +TEST(distance, lateralDistance_possible_matching) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); + constexpr double approx_distance = -3.0; + constexpr double tolerance = 0.5; + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, 3.0, true, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } +} + +constexpr auto convertDegToRad(const double deg) -> double { return deg / 180.0 * M_PI; } +constexpr auto convertRadToDeg(const double rad) -> double { return rad * 180.0 / M_PI; } + +auto makePose(const double x, const double y, const double yaw_deg) -> geometry_msgs::msg::Pose +{ + /** + * @note +x axis is 0 degrees; +y axis is 90 degrees + */ + return geometry_msgs::build() + .position(geometry_msgs::build().x(x).y(y).z(0.0)) + .orientation(math::geometry::convertEulerAngleToQuaternion( + geometry_msgs::build().x(0.0).y(0.0).z( + convertDegToRad(yaw_deg)))); +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = false, + * include_opposite_direction = false, allow_lane_change = false + * in an impossible scenario, e.g. no path. + */ +TEST(distance, longitudinalDistance_noAdjacent_noOpposite_noChange_false) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81595.44, 50006.09, 100.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81584.48, 50084.76, 100.0), false, hdmap_utils_ptr); + { + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, false, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = false, + * include_opposite_direction = false, allow_lane_change = false + * in a scenario that meets those criteria. + */ +TEST(distance, longitudinalDistance_noAdjacent_noOpposite_noChange) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.61836750154) + .longitude(139.78066608243) + .altitude(0.0)); + + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(3800.05, 73715.77, 30.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(3841.26, 73748.80, 110.0), false, hdmap_utils_ptr); + { + constexpr double approx_distance = 60.0; + constexpr double tolerance = 1.0; + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, false, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = true, + * include_opposite_direction = false, allow_lane_change = false + * in an impossible scenario, e.g. no path. + */ +TEST(distance, longitudinalDistance_adjacent_noOpposite_noChange_false) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81585.79, 50042.62, 100.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81588.34, 50083.23, 100.0), false, hdmap_utils_ptr); + { + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), true, false, false, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = true, + * include_opposite_direction = false, allow_lane_change = false + * in a scenario that meets those criteria. + */ +TEST(distance, longitudinalDistance_adjacent_noOpposite_noChange) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81599.02, 50065.76, 280.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81599.61, 50045.16, 280.0), false, hdmap_utils_ptr); + { + constexpr double approx_distance = 20.0; + constexpr double tolerance = 1.0; + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), true, false, false, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } +} \ No newline at end of file From b734f9e7d34af7d0f50b965949440c584244d58e Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Fri, 30 Aug 2024 10:25:42 +0200 Subject: [PATCH 190/304] ref(doc): change ss2 to scenario_simulator_v2 --- .../scenario_test_runner/RealtimeFactor.md | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/docs/user_guide/scenario_test_runner/RealtimeFactor.md b/docs/user_guide/scenario_test_runner/RealtimeFactor.md index 61aa1c3b180..4b9e7d66d00 100644 --- a/docs/user_guide/scenario_test_runner/RealtimeFactor.md +++ b/docs/user_guide/scenario_test_runner/RealtimeFactor.md @@ -59,20 +59,20 @@ Parameter `use_sim_time` of `openscenario_interpreter` is **false** by default a 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 SS2 | AWF Autoware Time | -| ----------------------------- | ---------------------------- | ---------------------- | -| false | walltime | walltime from /clock | -| true (default) | simulation | simulation from /clock | +| use_sim_time launch parameter | /clock time published by scenario_simulator_v2 | AWF Autoware Time | +| ----------------------------- | ---------------------------------------------- | ---------------------- | +| false | walltime | walltime from /clock | +| true (default) | simulation | simulation from /clock | -Below are also some bullet points explaining the impact of the `use_sim_time` parameter on `SS2` and `Autoware`: +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 (default value)** - - Both Autoware and SS2 are launched with `use_sim_time=true`. + - 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** - - Both Autoware and SS2 are launched with `use_sim_time=false`. + - 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. From e474c0617e03b58628734e08599fd8dc47667aa1 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Mon, 2 Sep 2024 05:04:00 +0000 Subject: [PATCH 191/304] Bump version of scenario_simulator_v2 from version 4.0.3 to version 4.0.4 --- common/math/arithmetic/CHANGELOG.rst | 7 +++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 7 +++++++ common/math/geometry/package.xml | 2 +- .../scenario_simulator_exception/CHANGELOG.rst | 7 +++++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 7 +++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 7 +++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 7 +++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 7 +++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 7 +++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 7 +++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 7 +++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 7 +++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 7 +++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 7 +++++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++++ .../openscenario_preprocessor_msgs/package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 7 +++++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 7 +++++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 7 +++++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 7 +++++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 7 +++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 7 +++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 7 +++++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 18 ++++++++++++++++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 7 +++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 7 +++++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 7 +++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 7 +++++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 7 +++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 243 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 071415b7724..bb1c186edec 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 1c29900b0a3..e4350ce9d90 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.0.3 + 4.0.4 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 032cc14a7ae..40ae1062b6b 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index ee5345b7bef..c2752bdd76e 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.0.3 + 4.0.4 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 7fb97385a33..d7435a2d0d7 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 923df025cbb..fed6fd12440 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.0.3 + 4.0.4 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 c4995f07eaa..4eef17af56d 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index cda6cfd917e..59ed067b7f3 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.0.3 + 4.0.4 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 e01a2cb9f43..774ca2bbc6f 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 5c5d5e80609..282d4873375 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.0.3 + 4.0.4 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 5c4a05c124b..1de9bcc00e0 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 3d7adca6741..e5b4f8a03f5 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.0.3 + 4.0.4 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 81d4fb8e5ed..39510cf8c3f 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,13 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 9edba4646ea..5df0964bb76 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.0.3 + 4.0.4 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 529fb96066e..6ea2889e2b1 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index fedc916e65a..473e71e7ddf 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.0.3 + 4.0.4 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 a3e643fe4dd..6e9c96e3ea1 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,13 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index b298b4db875..ef675481bc7 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.0.3 + 4.0.4 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 a950f37148c..62d76832554 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index ffe16eb7901..5ca7a422612 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.0.3 + 4.0.4 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 6792d7c61a1..6eafad07e9d 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 84fccf2740c..b87f49ec52e 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.0.3 + 4.0.4 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 89f41eed6ba..fe0296b7d82 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,13 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index fd0035e234c..b5d213d0aee 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.0.3 + 4.0.4 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 9ba2283cf5d..9b0a471dbe2 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 27ad47d7620..449744d17e6 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.0.3 + 4.0.4 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 c8a3ac1ed5d..48502653733 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 9e5e69c92ad..ee364f8ca43 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.0.3 + 4.0.4 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 3d089f944fe..1c70a7d2f90 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 7aeb238ce78..c5a9fa0ccb7 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.0.3 + 4.0.4 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 3fb43fe4051..1d094431d99 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 2aad028ee03..a1b4f436a32 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.0.3 + 4.0.4 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 47440c02ecb..b7cf67def8c 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,13 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 29bcf7248fd..be9aa620fbe 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.0.3 + 4.0.4 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 b35540ce799..e7373a93b65 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,13 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index ddcc5bd312f..a78113eed79 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.0.3 + 4.0.4 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 83df7d0e31b..a3c990bd223 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 06b03052c70..02ea72c337f 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.0.3 + 4.0.4 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 227f0183a4c..75e8669b2a9 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 +21,13 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started 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 a2cdb4f23ab..b67a20a9508 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 - 4.0.3 + 4.0.4 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 48cc5314ef2..09219d5b536 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 79fba664888..f4a9cbbfde4 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.0.3 + 4.0.4 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 a84d1462e3e..7079b435a9a 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 43c837d63c6..afa4dcbb82e 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.0.3 + 4.0.4 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 9389fb87965..4f6b112885d 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 7e00ac22e1a..d73bfd1a99a 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.0.3 + 4.0.4 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 a538f140727..330c7beb168 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,24 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge pull request `#1301 `_ from tier4/feature/simple_sensor_simulator_unit_tests_lidar + Test: [RJD-937] to Implement Unit tests on simple_sensor_simulator +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Test: [RJD-937] to Implement Unit tests on simple_sensor_simulator + - Removed dummy class + - Updated unit tests +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Test: [RJD-937] to Implement Unit tests on simple_sensor_simulator + - Added missed header file +* Test: [RJD-937] to Implement Unit tests on simple_sensor_simulator + - Added unit tests to LidarSensor + - Addede unit tests to Primitive + - Refactored Raycaster unit tests +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge pull request `#1358 `_ from tier4/RJD-1056-remove-npc-logic-started diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 9103769b115..33fece8a706 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.0.3 + 4.0.4 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 73448aa0c12..ac992200c2e 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 325d8df7d6a..4098f2afc3a 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.0.3 + 4.0.4 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 d8c4e2bed5b..2ae66a903af 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge pull request `#1358 `_ from tier4/RJD-1056-remove-npc-logic-started diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 0c811088089..a53007167c1 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.0.3 + 4.0.4 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 77ddc0bc853..f4a7b54d808 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 2444a632eb7..20123d7e905 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.0.3 + 4.0.4 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 8e16a329471..c5254557c9d 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge pull request `#1358 `_ from tier4/RJD-1056-remove-npc-logic-started diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index e281411002d..8e2ac0e8ac7 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.0.3 + 4.0.4 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 9d40fbc6fa4..0169e72bf9f 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,13 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.0.4 (2024-09-02) +------------------ +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Merge branch 'master' into feature/simple_sensor_simulator_unit_tests_lidar +* Contributors: Masaya Kataoka, SzymonParapura + 4.0.3 (2024-08-29) ------------------ * Merge remote-tracking branch 'origin/master' into RJD-1056-remove-npc-logic-started diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 14db4ea7f12..0e9b538151e 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.0.3 + 4.0.4 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From b07aef99182fbcbdd0a764b846c2349638f29d7c Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Mon, 2 Sep 2024 09:33:58 +0200 Subject: [PATCH 192/304] doc(realtimefactor): fix inconsistencies --- .../scenario_test_runner/RealtimeFactor.md | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/docs/user_guide/scenario_test_runner/RealtimeFactor.md b/docs/user_guide/scenario_test_runner/RealtimeFactor.md index 4b9e7d66d00..e8b1cbe5d66 100644 --- a/docs/user_guide/scenario_test_runner/RealtimeFactor.md +++ b/docs/user_guide/scenario_test_runner/RealtimeFactor.md @@ -11,7 +11,7 @@ It is possible to modify the speed of simulation (the speed of time published on ```bash ros2 launch scenario_test_runner scenario_test_runner.launch.py \ - architecture_type:=awf/universe \ + architecture_type:=awf/universe/20230906 \ record:=false \ scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \ sensor_model:=sample_sensor_kit \ @@ -47,7 +47,7 @@ Parameter `use_sim_time` of `openscenario_interpreter` is **false** by default a ```bash ros2 launch scenario_test_runner scenario_test_runner.launch.py \ - architecture_type:=awf/universe \ + architecture_type:=awf/universe/20230906 \ record:=false \ scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \ sensor_model:=sample_sensor_kit \ @@ -61,17 +61,17 @@ Details are shown in the table below: | use_sim_time launch parameter | /clock time published by scenario_simulator_v2 | AWF Autoware Time | | ----------------------------- | ---------------------------------------------- | ---------------------- | -| false | walltime | walltime from /clock | -| true (default) | simulation | simulation from /clock | +| 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 (default value)** + - **`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** + - **`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. From 9f1eeedf2029d5090891b0ebf3169ba8b5bb2a60 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 2 Sep 2024 10:27:51 +0200 Subject: [PATCH 193/304] make const members public --- .../include/geometry/polygon/line_segment.hpp | 13 ++--- .../src/intersection/intersection.cpp | 8 +-- .../geometry/src/polygon/line_segment.cpp | 52 ++++++++----------- .../src/spline/catmull_rom_spline.cpp | 4 +- .../math/geometry/test/test_line_segment.cpp | 16 +++--- 5 files changed, 40 insertions(+), 53 deletions(-) diff --git a/common/math/geometry/include/geometry/polygon/line_segment.hpp b/common/math/geometry/include/geometry/polygon/line_segment.hpp index 6fb16991950..8ba0f98bc0c 100644 --- a/common/math/geometry/include/geometry/polygon/line_segment.hpp +++ b/common/math/geometry/include/geometry/polygon/line_segment.hpp @@ -31,6 +31,10 @@ 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); @@ -58,11 +62,7 @@ class LineSegment auto getSValue( const geometry_msgs::msg::Pose & pose, double threshold_distance, bool denormalize_s) const -> std::optional; - auto getVector() const -> const geometry_msgs::msg::Vector3 &; auto getNormalVector() const -> geometry_msgs::msg::Vector3; - auto get2DVector() const -> const geometry_msgs::msg::Vector3 &; - auto getLength() const -> double; - auto get2DLength() const -> double; auto get2DVectorSlope() const -> double; auto getSquaredDistanceIn2D( const geometry_msgs::msg::Point & point, const double s, const bool denormalize_s = false) const @@ -73,11 +73,6 @@ class LineSegment auto relativePointPosition2D(const geometry_msgs::msg::Point & point) const -> int; private: - const double length; - const double length_2d; - const geometry_msgs::msg::Vector3 vector; - const geometry_msgs::msg::Vector3 vector_2d; - auto denormalize(const std::optional & s, const bool throw_error_on_out_of_range = true) const -> std::optional; auto denormalize(const double s) const -> double; diff --git a/common/math/geometry/src/intersection/intersection.cpp b/common/math/geometry/src/intersection/intersection.cpp index 013efbb4cbe..85f0b691809 100644 --- a/common/math/geometry/src/intersection/intersection.cpp +++ b/common/math/geometry/src/intersection/intersection.cpp @@ -61,13 +61,13 @@ std::optional getIntersection2D( return std::nullopt; } else { // 'line0' represented as a0x + b0y = c0 - const double a0 = line0.get2DVector().y; - const double b0 = -line0.get2DVector().x; + 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.get2DVector().y; - const double b1 = -line1.get2DVector().x; + 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; diff --git a/common/math/geometry/src/polygon/line_segment.cpp b/common/math/geometry/src/polygon/line_segment.cpp index 47ade55b944..b3b71a13b13 100644 --- a/common/math/geometry/src/polygon/line_segment.cpp +++ b/common/math/geometry/src/polygon/line_segment.cpp @@ -31,8 +31,6 @@ LineSegment::LineSegment( const geometry_msgs::msg::Point & start_point, const geometry_msgs::msg::Point & end_point) : start_point(start_point), end_point(end_point), - length(hypot(end_point, start_point)), - length_2d(std::hypot(end_point.x - start_point.x, end_point.y - start_point.y)), vector(geometry_msgs::build() .x(end_point.x - start_point.x) .y(end_point.y - start_point.y) @@ -40,7 +38,9 @@ LineSegment::LineSegment( vector_2d(geometry_msgs::build() .x(end_point.x - start_point.x) .y(end_point.y - start_point.y) - .z(0.0)) + .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)) { } @@ -75,24 +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; + 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 + getVector().x * s_normalized) - .y(start_point.y + getVector().y * s_normalized) - .z(start_point.z + getVector().z * s_normalized); + .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."); } @@ -114,8 +114,8 @@ auto LineSegment::getPose(const double s, const bool denormalize_s, const bool f .orientation(math::geometry::convertEulerAngleToQuaternion( geometry_msgs::build() .x(0.0) - .y(fill_pitch ? std::atan2(-getVector().z, std::hypot(getVector().x, getVector().y)) : 0.0) - .z(std::atan2(getVector().y, getVector().x)))); + .y(fill_pitch ? std::atan2(-vector.z, std::hypot(vector.x, vector.y)) : 0.0) + .z(std::atan2(vector.y, vector.x)))); } /** @@ -128,9 +128,9 @@ auto LineSegment::isIntersect2D(const geometry_msgs::msg::Point & point) const - { if (isInBounds2D(point)) { const double cross_product = - (point.y - start_point.y) * get2DVector().x - (point.x - start_point.x) * get2DVector().y; + (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) <= get2DLength() * tolerance; + return std::abs(cross_product) <= length_2d * tolerance; } else { return false; } @@ -177,8 +177,8 @@ auto LineSegment::get2DIntersectionSValue( /// 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) / get2DLength(); - return denormalize_s ? std::make_optional(proportion_2d * getLength()) + 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; @@ -212,8 +212,6 @@ auto LineSegment::getIntersection2D(const LineSegment & line) const return math::geometry::getIntersection2D(*this, line); } -auto LineSegment::getVector() const -> const geometry_msgs::msg::Vector3 & { return vector; } - /** * @brief Get normal vector of the line segment. * @return geometry_msgs::msg::Vector3 @@ -222,23 +220,17 @@ auto LineSegment::getNormalVector() const -> geometry_msgs::msg::Vector3 { const double theta = M_PI / 2.0; return geometry_msgs::build() - .x(getVector().x * std::cos(theta) - getVector().y * std::sin(theta)) - .y(getVector().x * std::sin(theta) + getVector().y * std::cos(theta)) + .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 -> const geometry_msgs::msg::Vector3 & { return vector_2d; } - -auto LineSegment::get2DLength() const -> double { return length_2d; } - -auto LineSegment::getLength() const -> double { return length; } - auto LineSegment::get2DVectorSlope() const -> double { - if (get2DVector().x <= std::numeric_limits::epsilon()) { + if (vector_2d.x <= std::numeric_limits::epsilon()) { THROW_SIMULATION_ERROR("Slope of a vertical line is undefined"); } else { - return get2DVector().y / get2DVector().x; + return vector_2d.y / vector_2d.x; } } @@ -300,7 +292,7 @@ auto LineSegment::denormalize( auto LineSegment::denormalize(const double s) const -> double { if (0.0 <= s && s <= 1.0) { - return s * getLength(); + return s * length; } else { THROW_SIMULATION_ERROR( "Invalid normalized s value, s = ", s, ", S value should be in range [0,1].", @@ -370,7 +362,7 @@ auto LineSegment::relativePointPosition2D(const geometry_msgs::msg::Point & poin { constexpr double tolerance = std::numeric_limits::epsilon(); const double determinant = - get2DVector().y * (point.x - end_point.x) - get2DVector().x * (point.y - end_point.y); + 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); } diff --git a/common/math/geometry/src/spline/catmull_rom_spline.cpp b/common/math/geometry/src/spline/catmull_rom_spline.cpp index 0c5b6830cce..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: @@ -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_line_segment.cpp b/common/math/geometry/test/test_line_segment.cpp index 01011d528b6..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) @@ -123,37 +123,37 @@ 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, get2DVectorSlope) From 9fa855f0c7bbdefb174e21bb3591b425b8e3f4b6 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Tue, 3 Sep 2024 00:30:59 +0000 Subject: [PATCH 194/304] Bump version of scenario_simulator_v2 from version 4.0.4 to version 4.1.0 --- common/math/arithmetic/CHANGELOG.rst | 9 ++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 29 +++++++++++++++++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 9 ++++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 9 ++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 9 ++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 9 ++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 9 ++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 9 ++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 9 ++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 9 ++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 9 ++++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 9 ++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 9 ++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 9 ++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 9 ++++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 9 ++++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 9 ++++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 9 ++++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 9 ++++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 9 ++++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 9 ++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 9 ++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 9 ++++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 9 ++++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 9 ++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 9 ++++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 9 ++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 9 ++++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 9 ++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 310 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index bb1c186edec..798240c5750 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..e43e4b119fa 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.0.4 + 4.1.0 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..78f5dfec7f3 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,35 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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/package.xml b/common/math/geometry/package.xml index c2752bdd76e..f1d4f4b1346 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.0.4 + 4.1.0 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index d7435a2d0d7..3f3aba9d0e0 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..73b6c401da2 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 + 4.1.0 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..33220c8e35b 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..29cb3c22b1c 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.0.4 + 4.1.0 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..71e4bd326fb 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..e335459d58e 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.0.4 + 4.1.0 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 1de9bcc00e0..b68296f8743 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..e8bc60a7cfd 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.0.4 + 4.1.0 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..c99809ca1eb 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,15 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..d132c246a38 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.0.4 + 4.1.0 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..0861c50126d 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..394167d04fa 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.0.4 + 4.1.0 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..ad95ad7ab75 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,15 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..1ccfc858fdf 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 + 4.1.0 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..dc2498e6200 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..bdfce4bf3f6 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 + 4.1.0 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..45f16c7f224 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..bff30fd153a 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 + 4.1.0 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..4d18a9ce2d1 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,15 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +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..de5a6d9ce11 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.0.4 + 4.1.0 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..eab5fcfc343 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..dcb5d70431d 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 + 4.1.0 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..0979b4b8d63 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..d30064c23bf 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 + 4.1.0 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..e1ffb99c452 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..727976cfc2e 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.0.4 + 4.1.0 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..9be6223f578 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..9c0bdac10b5 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 + 4.1.0 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..7c359c8bb51 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,15 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..d65a371ab39 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.0.4 + 4.1.0 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..07b5937398d 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,15 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..7bfe192367b 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.0.4 + 4.1.0 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..f4e0684997a 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..7d4ab9d638f 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.0.4 + 4.1.0 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..45b50390972 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 +21,15 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.1.0 (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..95bb05b9e6d 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 + 4.1.0 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..45ad48f52ae 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..d8ffcaefbd1 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.0.4 + 4.1.0 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..6d8bcd80543 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..f63468266a5 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 + 4.1.0 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..c8c5c7d59a3 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..0cefa0af367 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 + 4.1.0 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..b1bb91e0a45 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..f8540ec94f0 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 + 4.1.0 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index ac992200c2e..042d163f8bb 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..519a95c2094 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.0.4 + 4.1.0 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..1198df922fa 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..0c23831f034 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.0.4 + 4.1.0 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index f4a7b54d808..32b8498248c 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..09a9de877df 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 + 4.1.0 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..97aa4d0b437 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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..661360ef9e4 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 + 4.1.0 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..6ded1b349c5 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,15 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +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/package.xml b/test_runner/scenario_test_runner/package.xml index 0e9b538151e..c8cd38804e6 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 + 4.1.0 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From a3e59a7051400776473288eceb2e4198082b4215 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Tue, 3 Sep 2024 03:50:00 +0000 Subject: [PATCH 195/304] Bump version of scenario_simulator_v2 from version 4.1.0 to version 4.1.1 --- common/math/arithmetic/CHANGELOG.rst | 14 ++++++++++++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 14 ++++++++++++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++++++++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 14 ++++++++++++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 14 ++++++++++++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 14 ++++++++++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 14 ++++++++++++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 14 ++++++++++++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 14 ++++++++++++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 14 ++++++++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++++++++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 15 +++++++++++++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++++++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++++++++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 14 ++++++++++++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++++++++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 14 ++++++++++++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 14 ++++++++++++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 14 ++++++++++++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++++++++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 14 ++++++++++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 14 ++++++++++++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 14 ++++++++++++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 18 ++++++++++++++++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 15 +++++++++++++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 18 ++++++++++++++++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 14 ++++++++++++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 14 ++++++++++++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 19 +++++++++++++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 450 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 798240c5750..330d9aa24aa 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index e43e4b119fa..6e6b99eecc8 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.1.0 + 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 78f5dfec7f3..bb6fe0f336a 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index f1d4f4b1346..4efabccc4ab 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.1.0 + 4.1.1 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 3f3aba9d0e0..751669f5645 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 73b6c401da2..f8044694277 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.1.0 + 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 33220c8e35b..e8c04a9b3da 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 29cb3c22b1c..94acfc23b4f 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.1.0 + 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 71e4bd326fb..93bd7dae8e2 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index e335459d58e..8581f52357e 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.1.0 + 4.1.1 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index b68296f8743..a65070a5b3a 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/external/concealer/package.xml b/external/concealer/package.xml index e8bc60a7cfd..43e7da9c9cb 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.1.0 + 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 c99809ca1eb..f43f59683ed 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,20 @@ 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 diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index d132c246a38..5eb7b996777 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.1.0 + 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 0861c50126d..22bf4853964 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 394167d04fa..8dc789e7ad9 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.1.0 + 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 ad95ad7ab75..df422fbee7e 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,20 @@ 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 diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 1ccfc858fdf..5844a6ddd6e 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.1.0 + 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 dc2498e6200..5104c7ac09b 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index bdfce4bf3f6..f595e5f10dc 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.1.0 + 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 45f16c7f224..4bc7d1e3f3e 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index bff30fd153a..45f27892af7 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.1.0 + 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 4d18a9ce2d1..71666b59396 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,21 @@ 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 diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index de5a6d9ce11..3d070c90e78 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.1.0 + 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 eab5fcfc343..284f8b712ce 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index dcb5d70431d..0eddc9f2065 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.1.0 + 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 0979b4b8d63..2ff6a3ad396 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index d30064c23bf..c0c44be4bcf 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.1.0 + 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 e1ffb99c452..2c679019060 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 727976cfc2e..2806381635c 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.1.0 + 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 9be6223f578..4f6847559fc 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 9c0bdac10b5..af39b90a017 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.1.0 + 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 7c359c8bb51..7303319e8d7 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,20 @@ 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 diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index d65a371ab39..17130a022c3 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.1.0 + 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 07b5937398d..edae34b089e 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,20 @@ 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 diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 7bfe192367b..da541f624f9 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.1.0 + 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 f4e0684997a..d69f5f28b9c 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 7d4ab9d638f..e76f23b4545 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.1.0 + 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 45b50390972..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 +21,20 @@ 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 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 95bb05b9e6d..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 - 4.1.0 + 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 45ad48f52ae..d75490f9061 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index d8ffcaefbd1..75a3120d806 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.1.0 + 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 6d8bcd80543..a1827aa4290 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index f63468266a5..b049b75aecf 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.1.0 + 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 c8c5c7d59a3..333a17a14ce 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 0cefa0af367..04e674bafbe 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.1.0 + 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 b1bb91e0a45..589423df12d 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,24 @@ 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 diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index f8540ec94f0..bd84da7888a 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.1.0 + 4.1.1 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 042d163f8bb..808b578281b 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,21 @@ 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 diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 519a95c2094..7900025ff2e 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.1.0 + 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 1198df922fa..8e67976fb9e 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,24 @@ 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 diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 0c23831f034..24c4c007e01 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.1.0 + 4.1.1 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 32b8498248c..5db5f440c2e 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 09a9de877df..8050ee25c17 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.1.0 + 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 97aa4d0b437..6fefac553c0 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,20 @@ 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 diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 661360ef9e4..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 - 4.1.0 + 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 6ded1b349c5..afa619d2d51 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,25 @@ 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 diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index c8cd38804e6..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 - 4.1.0 + 4.1.1 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 50bcb748bbb35741788a8a7d9c0e3aca179747a9 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 5 Aug 2024 11:24:24 +0200 Subject: [PATCH 196/304] add a proper structure to the test files --- common/math/geometry/test/CMakeLists.txt | 35 +++++++------------ .../test/{ => src}/expect_eq_macros.hpp | 0 .../test/src/intersection/CMakeLists.txt | 5 +++ .../{ => src/intersection}/test_collision.cpp | 2 +- .../intersection}/test_intersection.cpp | 4 +-- .../geometry/test/src/polygon/CMakeLists.txt | 5 +++ .../{ => src/polygon}/test_line_segment.cpp | 4 +-- .../test/{ => src/polygon}/test_polygon.cpp | 4 +-- .../test/src/quaternion/CMakeLists.txt | 2 ++ .../{ => src/quaternion}/test_quaternion.cpp | 4 +-- .../geometry/test/src/solver/CMakeLists.txt | 2 ++ .../solver}/test_polynomial_solver.cpp | 0 .../geometry/test/src/spline/CMakeLists.txt | 8 +++++ .../spline}/test_catmull_rom_spline.cpp | 4 +-- .../spline}/test_catmull_rom_subspline.cpp | 4 +-- .../{ => src/spline}/test_hermite_curve.cpp | 4 +-- .../test/{ => src}/test_bounding_box.cpp | 0 .../geometry/test/{ => src}/test_distance.cpp | 0 .../test/{ => src}/test_transform.cpp | 0 .../geometry/test/{ => src}/test_utils.hpp | 0 .../test/{ => src}/vector3/CMakeLists.txt | 0 .../vector3/test_truncate_custom.cpp | 0 .../{ => src}/vector3/test_truncate_msg.cpp | 0 .../test/{ => src}/vector3/test_vector3.cpp | 0 24 files changed, 49 insertions(+), 38 deletions(-) rename common/math/geometry/test/{ => src}/expect_eq_macros.hpp (100%) create mode 100644 common/math/geometry/test/src/intersection/CMakeLists.txt rename common/math/geometry/test/{ => src/intersection}/test_collision.cpp (99%) rename common/math/geometry/test/{ => src/intersection}/test_intersection.cpp (98%) create mode 100644 common/math/geometry/test/src/polygon/CMakeLists.txt rename common/math/geometry/test/{ => src/polygon}/test_line_segment.cpp (99%) rename common/math/geometry/test/{ => src/polygon}/test_polygon.cpp (98%) create mode 100644 common/math/geometry/test/src/quaternion/CMakeLists.txt rename common/math/geometry/test/{ => src/quaternion}/test_quaternion.cpp (96%) create mode 100644 common/math/geometry/test/src/solver/CMakeLists.txt rename common/math/geometry/test/{ => src/solver}/test_polynomial_solver.cpp (100%) create mode 100644 common/math/geometry/test/src/spline/CMakeLists.txt rename common/math/geometry/test/{ => src/spline}/test_catmull_rom_spline.cpp (99%) rename common/math/geometry/test/{ => src/spline}/test_catmull_rom_subspline.cpp (98%) rename common/math/geometry/test/{ => src/spline}/test_hermite_curve.cpp (99%) rename common/math/geometry/test/{ => src}/test_bounding_box.cpp (100%) rename common/math/geometry/test/{ => src}/test_distance.cpp (100%) rename common/math/geometry/test/{ => src}/test_transform.cpp (100%) rename common/math/geometry/test/{ => src}/test_utils.hpp (100%) rename common/math/geometry/test/{ => src}/vector3/CMakeLists.txt (100%) rename common/math/geometry/test/{ => src}/vector3/test_truncate_custom.cpp (100%) rename common/math/geometry/test/{ => src}/vector3/test_truncate_msg.cpp (100%) rename common/math/geometry/test/{ => src}/vector3/test_vector3.cpp (100%) diff --git a/common/math/geometry/test/CMakeLists.txt b/common/math/geometry/test/CMakeLists.txt index dfd0a09460b..eed4ab3431c 100644 --- a/common/math/geometry/test/CMakeLists.txt +++ b/common/math/geometry/test/CMakeLists.txt @@ -1,26 +1,15 @@ -add_subdirectory(vector3) +add_subdirectory(src/intersection) +add_subdirectory(src/polygon) +add_subdirectory(src/quaternion) +add_subdirectory(src/solver) +add_subdirectory(src/spline) +add_subdirectory(src/vector3) -ament_add_gtest(test_bounding_box test_bounding_box.cpp) -ament_add_gtest(test_catmull_rom_spline test_catmull_rom_spline.cpp) -ament_add_gtest(test_catmull_rom_subspline test_catmull_rom_subspline.cpp) -ament_add_gtest(test_collision test_collision.cpp) -ament_add_gtest(test_distance test_distance.cpp) -ament_add_gtest(test_hermite_curve test_hermite_curve.cpp) -ament_add_gtest(test_polygon test_polygon.cpp) -ament_add_gtest(test_polynomial_solver test_polynomial_solver.cpp) -ament_add_gtest(test_transform test_transform.cpp) -ament_add_gtest(test_intersection test_intersection.cpp) -ament_add_gtest(test_line_segment test_line_segment.cpp) -ament_add_gtest(test_quaternion test_quaternion.cpp) -target_link_libraries(test_bounding_box geometry) -target_link_libraries(test_catmull_rom_spline geometry) -target_link_libraries(test_catmull_rom_subspline geometry) -target_link_libraries(test_collision geometry) +ament_add_gtest(test_distance src/test_distance.cpp) target_link_libraries(test_distance geometry) -target_link_libraries(test_hermite_curve geometry) -target_link_libraries(test_polygon geometry) -target_link_libraries(test_polynomial_solver geometry) + +ament_add_gtest(test_bounding_box src/test_bounding_box.cpp) +target_link_libraries(test_bounding_box geometry) + +ament_add_gtest(test_transform src/test_transform.cpp) target_link_libraries(test_transform geometry) -target_link_libraries(test_intersection geometry) -target_link_libraries(test_line_segment geometry) -target_link_libraries(test_quaternion geometry) diff --git a/common/math/geometry/test/expect_eq_macros.hpp b/common/math/geometry/test/src/expect_eq_macros.hpp similarity index 100% rename from common/math/geometry/test/expect_eq_macros.hpp rename to common/math/geometry/test/src/expect_eq_macros.hpp diff --git a/common/math/geometry/test/src/intersection/CMakeLists.txt b/common/math/geometry/test/src/intersection/CMakeLists.txt new file mode 100644 index 00000000000..ea171973a2c --- /dev/null +++ b/common/math/geometry/test/src/intersection/CMakeLists.txt @@ -0,0 +1,5 @@ +ament_add_gtest(test_collision test_collision.cpp) +target_link_libraries(test_collision geometry) + +ament_add_gtest(test_intersection test_intersection.cpp) +target_link_libraries(test_intersection geometry) diff --git a/common/math/geometry/test/test_collision.cpp b/common/math/geometry/test/src/intersection/test_collision.cpp similarity index 99% rename from common/math/geometry/test/test_collision.cpp rename to common/math/geometry/test/src/intersection/test_collision.cpp index cf60a70eba2..a32622d4f0c 100644 --- a/common/math/geometry/test/test_collision.cpp +++ b/common/math/geometry/test/src/intersection/test_collision.cpp @@ -17,7 +17,7 @@ #include #include -#include "test_utils.hpp" +#include "../test_utils.hpp" TEST(Collision, DifferentHeight) { diff --git a/common/math/geometry/test/test_intersection.cpp b/common/math/geometry/test/src/intersection/test_intersection.cpp similarity index 98% rename from common/math/geometry/test/test_intersection.cpp rename to common/math/geometry/test/src/intersection/test_intersection.cpp index 06b8925bbca..f21879f6555 100644 --- a/common/math/geometry/test/test_intersection.cpp +++ b/common/math/geometry/test/src/intersection/test_intersection.cpp @@ -18,8 +18,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" TEST(Intersection, isIntersect2DDisjoint) { diff --git a/common/math/geometry/test/src/polygon/CMakeLists.txt b/common/math/geometry/test/src/polygon/CMakeLists.txt new file mode 100644 index 00000000000..8a2eae13418 --- /dev/null +++ b/common/math/geometry/test/src/polygon/CMakeLists.txt @@ -0,0 +1,5 @@ +ament_add_gtest(test_line_segment test_line_segment.cpp) +target_link_libraries(test_line_segment geometry) + +ament_add_gtest(test_polygon test_polygon.cpp) +target_link_libraries(test_polygon geometry) diff --git a/common/math/geometry/test/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp similarity index 99% rename from common/math/geometry/test/test_line_segment.cpp rename to common/math/geometry/test/src/polygon/test_line_segment.cpp index c7f6aeb6067..f927e9ba1f0 100644 --- a/common/math/geometry/test/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -19,8 +19,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" TEST(LineSegment, initializeDifferentPoints) { diff --git a/common/math/geometry/test/test_polygon.cpp b/common/math/geometry/test/src/polygon/test_polygon.cpp similarity index 98% rename from common/math/geometry/test/test_polygon.cpp rename to common/math/geometry/test/src/polygon/test_polygon.cpp index 8ec0ea97ad9..e7278fa6566 100644 --- a/common/math/geometry/test/test_polygon.cpp +++ b/common/math/geometry/test/src/polygon/test_polygon.cpp @@ -17,8 +17,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" TEST(Polygon, filterByAxis) { diff --git a/common/math/geometry/test/src/quaternion/CMakeLists.txt b/common/math/geometry/test/src/quaternion/CMakeLists.txt new file mode 100644 index 00000000000..2ea2aaf3d91 --- /dev/null +++ b/common/math/geometry/test/src/quaternion/CMakeLists.txt @@ -0,0 +1,2 @@ +ament_add_gtest(test_quaternion test_quaternion.cpp) +target_link_libraries(test_quaternion geometry) diff --git a/common/math/geometry/test/test_quaternion.cpp b/common/math/geometry/test/src/quaternion/test_quaternion.cpp similarity index 96% rename from common/math/geometry/test/test_quaternion.cpp rename to common/math/geometry/test/src/quaternion/test_quaternion.cpp index 7dfd1285664..14c7f3a82ba 100644 --- a/common/math/geometry/test/test_quaternion.cpp +++ b/common/math/geometry/test/src/quaternion/test_quaternion.cpp @@ -18,8 +18,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" constexpr double EPS = 1e-6; diff --git a/common/math/geometry/test/src/solver/CMakeLists.txt b/common/math/geometry/test/src/solver/CMakeLists.txt new file mode 100644 index 00000000000..0716910f184 --- /dev/null +++ b/common/math/geometry/test/src/solver/CMakeLists.txt @@ -0,0 +1,2 @@ +ament_add_gtest(test_polynomial_solver test_polynomial_solver.cpp) +target_link_libraries(test_polynomial_solver geometry) diff --git a/common/math/geometry/test/test_polynomial_solver.cpp b/common/math/geometry/test/src/solver/test_polynomial_solver.cpp similarity index 100% rename from common/math/geometry/test/test_polynomial_solver.cpp rename to common/math/geometry/test/src/solver/test_polynomial_solver.cpp diff --git a/common/math/geometry/test/src/spline/CMakeLists.txt b/common/math/geometry/test/src/spline/CMakeLists.txt new file mode 100644 index 00000000000..d6a2793f80d --- /dev/null +++ b/common/math/geometry/test/src/spline/CMakeLists.txt @@ -0,0 +1,8 @@ +ament_add_gtest(test_catmull_rom_spline test_catmull_rom_spline.cpp) +target_link_libraries(test_catmull_rom_spline geometry) + +ament_add_gtest(test_catmull_rom_subspline test_catmull_rom_subspline.cpp) +target_link_libraries(test_catmull_rom_subspline geometry) + +ament_add_gtest(test_hermite_curve test_hermite_curve.cpp) +target_link_libraries(test_hermite_curve geometry) diff --git a/common/math/geometry/test/test_catmull_rom_spline.cpp b/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp similarity index 99% rename from common/math/geometry/test/test_catmull_rom_spline.cpp rename to common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp index b29aba00130..b224e7d0d45 100644 --- a/common/math/geometry/test/test_catmull_rom_spline.cpp +++ b/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp @@ -18,8 +18,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" constexpr double EPS = 1e-6; diff --git a/common/math/geometry/test/test_catmull_rom_subspline.cpp b/common/math/geometry/test/src/spline/test_catmull_rom_subspline.cpp similarity index 98% rename from common/math/geometry/test/test_catmull_rom_subspline.cpp rename to common/math/geometry/test/src/spline/test_catmull_rom_subspline.cpp index 567d1bf089e..10b2b56124c 100644 --- a/common/math/geometry/test/test_catmull_rom_subspline.cpp +++ b/common/math/geometry/test/src/spline/test_catmull_rom_subspline.cpp @@ -17,8 +17,8 @@ #include #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" constexpr double EPS = 1e-6; diff --git a/common/math/geometry/test/test_hermite_curve.cpp b/common/math/geometry/test/src/spline/test_hermite_curve.cpp similarity index 99% rename from common/math/geometry/test/test_hermite_curve.cpp rename to common/math/geometry/test/src/spline/test_hermite_curve.cpp index 9efbccef633..08ab6c3c4a0 100644 --- a/common/math/geometry/test/test_hermite_curve.cpp +++ b/common/math/geometry/test/src/spline/test_hermite_curve.cpp @@ -16,8 +16,8 @@ #include -#include "expect_eq_macros.hpp" -#include "test_utils.hpp" +#include "../expect_eq_macros.hpp" +#include "../test_utils.hpp" constexpr double EPS = 1e-3; diff --git a/common/math/geometry/test/test_bounding_box.cpp b/common/math/geometry/test/src/test_bounding_box.cpp similarity index 100% rename from common/math/geometry/test/test_bounding_box.cpp rename to common/math/geometry/test/src/test_bounding_box.cpp diff --git a/common/math/geometry/test/test_distance.cpp b/common/math/geometry/test/src/test_distance.cpp similarity index 100% rename from common/math/geometry/test/test_distance.cpp rename to common/math/geometry/test/src/test_distance.cpp diff --git a/common/math/geometry/test/test_transform.cpp b/common/math/geometry/test/src/test_transform.cpp similarity index 100% rename from common/math/geometry/test/test_transform.cpp rename to common/math/geometry/test/src/test_transform.cpp diff --git a/common/math/geometry/test/test_utils.hpp b/common/math/geometry/test/src/test_utils.hpp similarity index 100% rename from common/math/geometry/test/test_utils.hpp rename to common/math/geometry/test/src/test_utils.hpp diff --git a/common/math/geometry/test/vector3/CMakeLists.txt b/common/math/geometry/test/src/vector3/CMakeLists.txt similarity index 100% rename from common/math/geometry/test/vector3/CMakeLists.txt rename to common/math/geometry/test/src/vector3/CMakeLists.txt diff --git a/common/math/geometry/test/vector3/test_truncate_custom.cpp b/common/math/geometry/test/src/vector3/test_truncate_custom.cpp similarity index 100% rename from common/math/geometry/test/vector3/test_truncate_custom.cpp rename to common/math/geometry/test/src/vector3/test_truncate_custom.cpp diff --git a/common/math/geometry/test/vector3/test_truncate_msg.cpp b/common/math/geometry/test/src/vector3/test_truncate_msg.cpp similarity index 100% rename from common/math/geometry/test/vector3/test_truncate_msg.cpp rename to common/math/geometry/test/src/vector3/test_truncate_msg.cpp diff --git a/common/math/geometry/test/vector3/test_vector3.cpp b/common/math/geometry/test/src/vector3/test_vector3.cpp similarity index 100% rename from common/math/geometry/test/vector3/test_vector3.cpp rename to common/math/geometry/test/src/vector3/test_vector3.cpp From 069e3b4f283bfd2fb0ffbba3314e98e5a508a7f1 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 5 Aug 2024 14:37:48 +0200 Subject: [PATCH 197/304] getPose, getPoint refactor --- .../test/src/polygon/test_line_segment.cpp | 198 ++++++++++-------- 1 file changed, 111 insertions(+), 87 deletions(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index f927e9ba1f0..4eac94644ab 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -17,6 +17,7 @@ #include #include #include +#include #include #include "../expect_eq_macros.hpp" @@ -326,97 +327,120 @@ TEST(LineSegment, getSValue_parallelDenormalize) EXPECT_FALSE(s); } -/// @brief In this test case, testing the `LineSegment::getPoint` function can find the point on the line segment with start point (x,y,z) = (0,0,0) and end point (x,y,z) = (1,1,1) in the cartesian coordinate system. (variable name `line`). -TEST(LineSegment, GetPoint) +TEST(LineSegment, GetPoint_outOfBounds_denormalized) { - { - math::geometry::LineSegment line( - geometry_msgs::build().x(0).y(0).z(0), - geometry_msgs::build().x(1).y(1).z(1)); - /// @note If s = 0 and denormalize_s = false, the return value of the `getPoint` function should be a start point of the `line`. - /// If the `denormalize_s = false`, the return value `s` of the function is normalized and in range `s = [0,1]`. - // [Snippet_getPoint_with_s_0] - EXPECT_POINT_EQ( - line.getPoint(0, false), geometry_msgs::build().x(0).y(0).z(0)); - // [Snippet_getPoint_with_s_0] - /// @snippet test/test_line_segment.cpp Snippet_getPoint_with_s_0 - - /// @note If s = 0 and denormalize_s = false, the return value of the `LineSegment::getPoint` function should be a end point of the `line`. - /// If the `denormalize_s = false`, the return value `s` of the function is normalized and in range `s = [0,1]`. - // [Snippet_getPoint_with_s_1] - EXPECT_POINT_EQ( - line.getPoint(1, false), geometry_msgs::build().x(1).y(1).z(1)); - // [Snippet_getPoint_with_s_1] - /// @snippet test/test_line_segment.cpp Snippet_getPoint_with_s_1 - - /// @note If s = sqrt(3) and denormalize_s = true, the return value of the `LineSegment::getPoint` function should be a end point of the `line`. - /// If the `denormalize_s = true`, the return value `s` is denormalized and it returns the value `s` times the length of the curve. - // [Snippet_getPoint_with_sqrt_3_denormalized] - EXPECT_POINT_EQ( - line.getPoint(std::sqrt(3), true), - geometry_msgs::build().x(1).y(1).z(1)); - // [Snippet_getPoint_with_sqrt_3_denormalized] - /// @snippet test/test_line_segment.cpp Snippet_getPoint_with_sqrt_3_denormalized - - /// @note If s is not in range s = [0,1], testing the `LineSegment::getPoint` function can throw error. If s is not in range s = [0,1], it means the point is not on the line. - // [Snippet_getPoint_out_of_range] - EXPECT_THROW(line.getPoint(2, false), common::SimulationError); - EXPECT_THROW(line.getPoint(-1, false), common::SimulationError); - // [Snippet_getPoint_out_of_range] - /// @snippet test/test_line_segment.cpp Snippet_getPoint_out_of_range - - /// @note If s is not in range s = [0,sqrt(3)] and denormalize, testing the `LineSegment::getPoint` function can throw error. If s is not in range s = [0,sqrt(3)], it means the point is not on the line. - // [Snippet_getPoint_out_of_range_with_denormalize] - EXPECT_THROW(line.getPoint(2, true), common::SimulationError); - EXPECT_THROW(line.getPoint(-1, true), common::SimulationError); - EXPECT_NO_THROW(line.getPoint(0, true)); - EXPECT_NO_THROW(line.getPoint(std::sqrt(3.0), true)); - // [Snippet_getPoint_out_of_range_with_denormalize] - /// @snippet test/test_line_segment.cpp Snippet_getPoint_out_of_range_with_denormalize - } + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); + ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + + EXPECT_THROW(line.getPoint(7.0, true), common::SimulationError); + EXPECT_THROW(line.getPoint(-1.0, true), common::SimulationError); } -/// @brief In this test case, testing the `LineSegment::getPose` function can find the pose on the line segment with start point (x,y,z) = (0,0,0) and end point (x,y,z) = (0,0,1) in the cartesian coordinate system. (variable name `line`). -TEST(LineSegment, GetPose) +TEST(LineSegment, GetPoint_outOfBounds_normalized) { - { - math::geometry::LineSegment line( - geometry_msgs::build().x(0).y(0).z(0), - geometry_msgs::build().x(0).y(0).z(1)); - /// @note When the `s = 0`(1st argument of the `LineSegment::getPose` function), the return value of the `LineSegment::getPose` function should be a start point of the `line`. - /// Orientation should be defined by the direction of the `line`, so the orientation should be parallel to the z axis. - // [Snippet_getPose_with_s_0] - EXPECT_POSE_EQ( - line.getPose(0, false, false), - geometry_msgs::build() - .position(geometry_msgs::build().x(0).y(0).z(0)) - .orientation(geometry_msgs::build().x(0).y(0).z(0).w(1))); - EXPECT_POSE_EQ( - line.getPose(0, false, true), - geometry_msgs::build() - .position(geometry_msgs::build().x(0).y(0).z(0)) - .orientation(math::geometry::convertEulerAngleToQuaternion( - geometry_msgs::build().x(0).y(-M_PI * 0.5).z(0)))); - // [Snippet_getPose_with_s_0] - /// @snippet test/test_line_segment.cpp Snippet_getPose_with_s_0 - - /// @note When the `s = 1`(1st argument of the `LineSegment::getPose` function), the return value of the `LineSegment::getPose` function should be an end point of the `line`. - /// Orientation should be defined by the direction of the `line`, so the orientation should be parallel to the z axis. - // [Snippet_getPose_with_s_1] - EXPECT_POSE_EQ( - line.getPose(1, false, false), - geometry_msgs::build() - .position(geometry_msgs::build().x(0).y(0).z(1)) - .orientation(geometry_msgs::build().x(0).y(0).z(0).w(1))); - EXPECT_POSE_EQ( - line.getPose(1, false, true), - geometry_msgs::build() - .position(geometry_msgs::build().x(0).y(0).z(1)) - .orientation(math::geometry::convertEulerAngleToQuaternion( - geometry_msgs::build().x(0).y(-M_PI * 0.5).z(0)))); - // [Snippet_getPose_with_s_1] - /// @snippet test/test_line_segment.cpp Snippet_getPose_with_s_1 - } + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); + ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + + EXPECT_THROW(line.getPoint(1.1, false), common::SimulationError); + EXPECT_THROW(line.getPoint(-0.1, false), common::SimulationError); +} + +TEST(LineSegment, GetPoint_inside_denormalized) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); + ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + + EXPECT_POINT_EQ(line.getPoint(0.0, true), makePoint(-1.0, -2.0, 1.0)); + EXPECT_POINT_EQ(line.getPoint(3.0, true), makePoint(1.0, 0.0, 0.0)); + EXPECT_POINT_EQ(line.getPoint(6.0, true), makePoint(3.0, 2.0, -1.0)); +} + +TEST(LineSegment, GetPoint_inside_normalized) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); + ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + + EXPECT_POINT_EQ(line.getPoint(0.0, false), makePoint(-1.0, -2.0, 1.0)); + EXPECT_POINT_EQ(line.getPoint(0.5, false), makePoint(1.0, 0.0, 0.0)); + EXPECT_POINT_EQ(line.getPoint(1.0, false), makePoint(3.0, 2.0, -1.0)); +} + +TEST(LineSegment, getPose_denormalized) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + const double length = 4.0 * std::sqrt(3.0); + ASSERT_DOUBLE_EQ(line.getLength(), length); + + EXPECT_POSE_EQ( + line.getPose(0.0 * length, true, false), + makePose( + -1.0, -2.0, 0.0, + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(0.5 * length, true, false), + makePose( + 1.0, 0.0, 2.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(1.0 * length, true, false), + makePose( + 3.0, 2.0, 4.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); +} + +TEST(LineSegment, getPose_normalized) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + const double length = 4.0 * std::sqrt(3.0); + ASSERT_DOUBLE_EQ(line.getLength(), length); + + EXPECT_POSE_EQ( + line.getPose(0.0, false, false), + makePose( + -1.0, -2.0, 0.0, + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(0.5, false, false), + makePose( + 1.0, 0.0, 2.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(1.0, false, false), + makePose( + 3.0, 2.0, 4.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); +} + +TEST(LineSegment, getPose_pitch) +{ + const auto line = math::geometry::LineSegment( + makePoint(-1.0, -2.0, 0.0 * std::sqrt(2.0)), makePoint(3.0, 2.0, 4.0 * std::sqrt(2.0))); + const double length = 8.0; + ASSERT_DOUBLE_EQ(line.getLength(), length); + + EXPECT_POSE_EQ( + line.getPose(0.0 * length, true, true), + makePose( + -1.0, -2.0, 0.0 * std::sqrt(2.0), + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, -M_PI_4, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(0.5 * length, true, true), + makePose( + 1.0, 0.0, 2.0 * std::sqrt(2.0), + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, -M_PI_4, M_PI_4)))); + + EXPECT_POSE_EQ( + line.getPose(1.0 * length, true, true), + makePose( + 3.0, 2.0, 4.0 * std::sqrt(2.0), + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, -M_PI_4, M_PI_4)))); } /// @brief In this test case, we check collision with the point and 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`). From dc92033bf9ff8dc1d0d69d50d9d26e1759c8cb27 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 5 Aug 2024 18:08:32 +0200 Subject: [PATCH 198/304] getIntersection2DSValue and isIntersect2D functions --- .../test/src/polygon/test_line_segment.cpp | 390 +++++++++++------- 1 file changed, 230 insertions(+), 160 deletions(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 4eac94644ab..0fcaeed94f3 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -443,178 +443,248 @@ TEST(LineSegment, getPose_pitch) math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, -M_PI_4, M_PI_4)))); } -/// @brief In this test case, we check collision with the point and 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, isIntersect2D) +TEST(LineSegment, isIntersect2D_pointInside) { + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + + EXPECT_TRUE(line.isIntersect2D(makePoint(0.0, -1.0, 1.0))); + EXPECT_TRUE(line.isIntersect2D(makePoint(0.0, -1.0, 0.0))); +} + +TEST(LineSegment, isIntersect2D_pointOutside) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + + EXPECT_FALSE(line.isIntersect2D(makePoint(-1.0, -1.0, 1.0))); + EXPECT_FALSE(line.isIntersect2D( + makePoint(0.0, std::numeric_limits::max(), std::numeric_limits::max()))); + + EXPECT_FALSE(line.isIntersect2D(makePoint(-3.0, 0.0, 0.0))); + EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 0.0, 0.0))); +} + +TEST(LineSegment, isIntersect2D_pointCollinear) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + + EXPECT_FALSE(line.isIntersect2D(makePoint(-2.0, -3.0, -1.0))); + EXPECT_FALSE(line.isIntersect2D(makePoint(-2.0, -3.0, 0.0))); + + EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 3.0, 5.0))); + EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 3.0, 0.0))); +} + +TEST(LineSegment, isIntersect2D_pointOnEnd) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); + + EXPECT_TRUE(line.isIntersect2D(makePoint(-1.0, -2.0, 0.0))); + EXPECT_TRUE(line.isIntersect2D(makePoint(-1.0, -2.0, 7.0))); + + EXPECT_TRUE(line.isIntersect2D(makePoint(3.0, 2.0, 4.0))); + EXPECT_TRUE(line.isIntersect2D(makePoint(3.0, 2.0, -5.0))); +} + +TEST(LineSegment, getIntersection2DSValue_line_vertical) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(-1.0, 2.0, 0.0)); { - 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::isIntersect2D` function can find intersection with point (0,0,0) and `line`. - // [Snippet_isIntersect2D_with_point_0_0_0] - EXPECT_TRUE( - line.isIntersect2D(geometry_msgs::build().x(0).y(0).z(0))); - // [Snippet_isIntersect2D_with_point_0_0_0] - /// @snippet test/test_line_segment.cpp Snippet_isIntersect2D_with_point_0_0_0 - - /// @note Testing the `LineSegment::isIntersect2D` function can find intersection with point (0,0,-1) - // [Snippet_isIntersect2D_with_point_0_0_-1] - EXPECT_TRUE( - line.isIntersect2D(geometry_msgs::build().x(0).y(0).z(-1))); - // [Snippet_isIntersect2D_with_point_0_0_-1] - /// @snippet test/test_line_segment.cpp Snippet_isIntersect2D_with_point_0_0_-1 - - /// @note Testing the `LineSegment::isIntersect2D` function can find intersection with point (0,1,0) and `line`. - // [Snippet_isIntersect2D_with_point_0_1_0] - EXPECT_TRUE( - line.isIntersect2D(geometry_msgs::build().x(0).y(1).z(0))); - // [Snippet_isIntersect2D_with_point_0_1_0] - /// @snippet test/test_line_segment.cpp Snippet_isIntersect2D_with_point_0_1_0 - - /// @note Testing the `LineSegment::isIntersect2D` function can find that there is no intersection with point (0,2,0) and `line`. - // [Snippet_isIntersect2D_with_point_0_2_0] - EXPECT_FALSE( - line.isIntersect2D(geometry_msgs::build().x(0).y(2).z(0))); - // [Snippet_isIntersect2D_with_point_0_2_0] - /// @snippet test/test_line_segment.cpp Snippet_isIntersect2D_with_point_0_2_0 - - /// @note Testing the `LineSegment::isIntersect2D` function can find that there is no intersection with point (0,-2,0) and `line`. - // [Snippet_isIntersect2D_with_point_0_-2_0] - EXPECT_FALSE( - line.isIntersect2D(geometry_msgs::build().x(0).y(-2).z(0))); - // [Snippet_isIntersect2D_with_point_0_-2_0] - /// @snippet test/test_line_segment.cpp Snippet_isIntersect2D_with_point_0_-2_0 + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 1.0, 0.0)), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 1.0); + } + { + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 1.0, 0.0)), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.25); } } -/// @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, get2DIntersectionSValue) +TEST(LineSegment, getIntersection2DSValue_line_horizontal) { + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 2.0, 0.0), makePoint(1.0, 2.0, 0.0)); { - 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::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_get2DIntersectionSValue_with_point_0_0_0] - { - 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_get2DIntersectionSValue_with_point_0_0_0] - /// @snippet test/test_line_segment.cpp Snippet_get2DIntersectionSValue_with_point_0_0_0 + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-1.0, 0.0, 0.0), makePoint(1.0, 4.0, 0.0)), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 1.0); + } + { + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-1.0, 0.0, 0.0), makePoint(1.0, 4.0, 0.0)), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.5); + } +} - /** - * @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_get2DIntersectionSValue_with_point_0_1_0] - { - 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_get2DIntersectionSValue_with_point_0_1_0] - /// @snippet test/test_line_segment.cpp Snippet_get2DIntersectionSValue_with_point_0_1_0 +TEST(LineSegment, getIntersection2DSValue_line_bounds) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); + { + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-2.0, 2.0, 0.0), makePoint(0.0, 0.0, 0.0)), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.0); + } + { + const auto s_value = line.getIntersection2DSValue( + math::geometry::LineSegment(makePoint(1.0, 3.0, 0.0), makePoint(2.0, 2.0, 0.0)), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 1.0); + } +} - /** - * @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::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_get2DIntersectionSValue_with_point_0_1_0_denormalized] - { - 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_get2DIntersectionSValue_with_point_0_1_0_denormalized] - /// @snippet test/test_line_segment.cpp Snippet_get2DIntersectionSValue_with_point_0_1_0_denormalized +TEST(LineSegment, getIntersection2DSValue_line_outside) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); - /** - * @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::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_get2DIntersectionSValue_with_point_0_0_0_denormalized] - { - 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_get2DIntersectionSValue_with_point_0_0_0_denormalized] - /// @snippet test/test_line_segment.cpp Snippet_get2DIntersectionSValue_with_point_0_0_0_denormalized + EXPECT_FALSE( + line + .getIntersection2DSValue( + math::geometry::LineSegment(makePoint(-2.0, 1.0, 0.0), makePoint(0.0, 0.0, 0.0)), false) + .has_value()); - /** - * @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_get2DIntersectionSValue_with_point_1_0_0] - { - const auto collision_s = line.get2DIntersectionSValue( - geometry_msgs::build().x(1).y(0).z(0), false); - EXPECT_FALSE(collision_s); - } - // [Snippet_get2DIntersectionSValue_with_point_1_0_0] - /// @snippet test/test_line_segment.cpp Snippet_get2DIntersectionSValue_with_point_1_0_0 + EXPECT_FALSE( + line + .getIntersection2DSValue( + math::geometry::LineSegment(makePoint(1.0, 4.0, 0.0), makePoint(2.0, 2.0, 0.0)), false) + .has_value()); +} - { // parallel no denormalize - EXPECT_THROW( - line.get2DIntersectionSValue( - math::geometry::LineSegment(makePoint(0.0, -1.0), makePoint(0.0, 1.0)), false), - common::SimulationError); - } - { // parallel denormalize - EXPECT_THROW( - 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.get2DIntersectionSValue( - math::geometry::LineSegment(makePoint(-1.0, 0.5), makePoint(1.0, 0.5)), false); - EXPECT_TRUE(collision_s); - if (collision_s) { - EXPECT_DOUBLE_EQ(collision_s.value(), 0.75); - } - } - { // intersect denormalize - 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) { - EXPECT_DOUBLE_EQ(collision_s.value(), 1.5); - } - } - { // no intersect no denormalize - 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.get2DIntersectionSValue( - math::geometry::LineSegment(makePoint(-1.0, 1.5), makePoint(1.0, 1.5)), true); - EXPECT_FALSE(collision_s); - } +TEST(LineSegment, getIntersection2DSValue_line_collinear) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); + + EXPECT_THROW(line.getIntersection2DSValue(line, false), common::SimulationError); + + EXPECT_FALSE( + line + .getIntersection2DSValue( + math::geometry::LineSegment(makePoint(3.0, 5.0, 0.0), makePoint(5.0, 7.0, 0.0)), false) + .has_value()); +} + +TEST(LineSegment, getIntersection2DSValue_point_vertical) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(-1.0, 2.0, 0.0)); + + { + const auto s_value = line.getIntersection2DSValue(makePoint(-1.0, 0.0, 0.0), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 2.0); + } + { + const auto s_value = line.getIntersection2DSValue(makePoint(-1.0, 0.0, 0.0), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.5); + } + { + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-101.0, 0.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(103.0, 0.0, 0.0), false).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-1.0, -107.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-1.0, 109.0, 0.0), false).has_value()); + } +} + +TEST(LineSegment, getIntersection2DSValue_point_horizontal) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 2.0, 0.0), makePoint(1.0, 2.0, 0.0)); + + { + const auto s_value = line.getIntersection2DSValue(makePoint(0.0, 2.0, 0.0), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 1.0); + } + { + const auto s_value = line.getIntersection2DSValue(makePoint(0.0, 2.0, 0.0), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.5); + } + { + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-113.0, 2.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(127.0, 2.0, 0.0), false).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(0.0, -131.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(0.0, 137.0, 0.0), false).has_value()); + } +} + +TEST(LineSegment, getIntersection2DSValue_point_bounds) +{ + const auto line = + math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 4.0, 0.0)); + + { + const auto s_value = line.getIntersection2DSValue(makePoint(-2.0, -2.0, 0.0), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.0); + } + { + const auto s_value = line.getIntersection2DSValue(makePoint(-2.0, -2.0, 0.0), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 0.0); + } + { + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-139.0, -2.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(149.0, -2.0, 0.0), false).has_value()); + } + + { + const auto s_value = line.getIntersection2DSValue(makePoint(1.0, 4.0, 0.0), true); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 3.0 * std::sqrt(5)); + } + { + const auto s_value = line.getIntersection2DSValue(makePoint(1.0, 4.0, 0.0), false); + ASSERT_TRUE(s_value.has_value()); + EXPECT_DOUBLE_EQ(s_value.value(), 1.0); + } + { + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-151.0, 4.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(157.0, 4.0, 0.0), false).has_value()); + } +} + +TEST(LineSegment, getIntersection2DSValue_point_outside) +{ + const auto line = + math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 4.0, 0.0)); + + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-3.0, 1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-1.0, 1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(0.0, 1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(2.0, 1.0, 0.0), true).has_value()); + + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, -5.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, -1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, 3.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, 7.0, 0.0), true).has_value()); + + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(7.0, 7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(7.0, -7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-7.0, 7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-7.0, -7.0, 0.0), true).has_value()); +} + +/// @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, 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::getIntersection2D` function can throw error getting intersection with exact same line segment. From c6d11cd6825d5eaeb624013b68377e809d054477 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 08:44:18 +0200 Subject: [PATCH 199/304] getIntersection2D function --- .../test/src/polygon/test_line_segment.cpp | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 0fcaeed94f3..c780402540d 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -97,6 +97,27 @@ TEST(LineSegment, getIntersection2DDisjoint) EXPECT_FALSE(line0.getIntersection2D(line1)); } +TEST(LineSegment, getIntersection2DIntersect) +{ + const auto line0 = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + const auto line1 = math::geometry::LineSegment(makePoint(1.0, 0.0), makePoint(0.0, 1.0)); + + const auto p0 = line0.getIntersection2D(line1); + const auto p1 = line1.getIntersection2D(line0); + + ASSERT_TRUE(p0.has_value()); + ASSERT_TRUE(p1.has_value()); + EXPECT_POINT_EQ(p0.value(), makePoint(0.5, 0.5)); + EXPECT_POINT_EQ(p1.value(), makePoint(0.5, 0.5)); +} + +TEST(LineSegment, getIntersection2DIdentical) +{ + const auto line = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + + EXPECT_THROW(line.getIntersection2D(line), common::SimulationError); +} + TEST(LineSegment, getVector) { const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0)); From 0fbdba03b87baf9cae231576e6fe2f9ebaf8b3b4 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 08:51:56 +0200 Subject: [PATCH 200/304] sort tests, rm old duplicate --- .../test/src/polygon/test_line_segment.cpp | 327 +++++++++++++++--- 1 file changed, 277 insertions(+), 50 deletions(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index c780402540d..28f3a6991fa 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -358,7 +358,7 @@ TEST(LineSegment, GetPoint_outOfBounds_denormalized) EXPECT_THROW(line.getPoint(-1.0, true), common::SimulationError); } -TEST(LineSegment, GetPoint_outOfBounds_normalized) +TEST(LineSegment, getPoint_outOfBounds_normalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); @@ -368,7 +368,7 @@ TEST(LineSegment, GetPoint_outOfBounds_normalized) EXPECT_THROW(line.getPoint(-0.1, false), common::SimulationError); } -TEST(LineSegment, GetPoint_inside_denormalized) +TEST(LineSegment, getPoint_inside_denormalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); @@ -379,7 +379,7 @@ TEST(LineSegment, GetPoint_inside_denormalized) EXPECT_POINT_EQ(line.getPoint(6.0, true), makePoint(3.0, 2.0, -1.0)); } -TEST(LineSegment, GetPoint_inside_normalized) +TEST(LineSegment, getPoint_inside_normalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); @@ -464,6 +464,26 @@ TEST(LineSegment, getPose_pitch) math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, -M_PI_4, M_PI_4)))); } +TEST(LineSegment, isIntersect2DDisjoint) +{ + const math::geometry::LineSegment line0(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makePoint(2.0, 1.0)); + EXPECT_FALSE(line0.isIntersect2D(line1)); +} + +TEST(LineSegment, isIntersect2DIntersect) +{ + const math::geometry::LineSegment line0(makePoint(1.0, 1.0), makePoint(2.0, 1.0)); + const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makeVector(1.0, 1.0), 3.0); + EXPECT_TRUE(line0.isIntersect2D(line1)); +} + +TEST(LineSegment, isIntersect2DIdentical) +{ + const math::geometry::LineSegment line(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + EXPECT_TRUE(line.isIntersect2D(line)); +} + TEST(LineSegment, isIntersect2D_pointInside) { const auto line = @@ -699,57 +719,264 @@ TEST(LineSegment, getIntersection2DSValue_point_outside) EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-7.0, -7.0, 0.0), true).has_value()); } -/// @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, get2DIntersectionSValue) +TEST(LineSegment, getIntersection2DDisjoint) { - { - 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::getIntersection2D` function can throw error getting intersection with exact same line segment. - * In this case, any s value can be a intersection point, so we cannot return single value. - */ - // [Snippet_getIntersection2D_with_line] - { - EXPECT_THROW(line.getIntersection2D(line), common::SimulationError); - } - // [Snippet_getIntersection2D_with_line] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2D_with_line - - /** - * @note Testing the `LineSegment::getIntersection2D` function can throw error getting intersection with part of the line segment `line`. - * In this case, any s value can be a intersection point, so we cannot return single value. - */ - // [Snippet_getIntersection2D_with_part_of_line] - { - EXPECT_THROW( - line.getIntersection2D(math::geometry::LineSegment( - geometry_msgs::build().x(0).y(-1).z(0), - geometry_msgs::build().x(0).y(0).z(0))), - common::SimulationError); - } - // [Snippet_getIntersection2D_with_part_of_line] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2D_with_part_of_line - - /// @note @note Testing the `LineSegment::getIntersection2D` function can find collision with the line segment with start point (x,y,z) = (1,0,0) and end point (x,y,z) = (-1,0,0) in the cartesian coordinate system and `line`. - // [Snippet_getIntersection2D_line_1_0_0_-1_0_0] - { - const auto point = line.getIntersection2D(math::geometry::LineSegment( - geometry_msgs::build().x(1).y(0).z(0), - geometry_msgs::build().x(-1).y(0).z(0))); - EXPECT_TRUE(point); - if (point) { - EXPECT_POINT_EQ( - point.value(), geometry_msgs::build().x(0).y(0).z(0)); - } - } - // [Snippet_getIntersection2D_line_1_0_0_-1_0_0] - /// @snippet test/test_line_segment.cpp Snippet_getIntersection2D_line_1_0_0_-1_0_0 + const math::geometry::LineSegment line0(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makePoint(2.0, 1.0)); + EXPECT_FALSE(line0.getIntersection2D(line1)); +} + +TEST(LineSegment, getIntersection2DIntersect) +{ + const auto line0 = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + const auto line1 = math::geometry::LineSegment(makePoint(1.0, 0.0), makePoint(0.0, 1.0)); + + const auto p0 = line0.getIntersection2D(line1); + const auto p1 = line1.getIntersection2D(line0); + + ASSERT_TRUE(p0.has_value()); + ASSERT_TRUE(p1.has_value()); + EXPECT_POINT_EQ(p0.value(), makePoint(0.5, 0.5)); + EXPECT_POINT_EQ(p1.value(), makePoint(0.5, 0.5)); +} + +TEST(LineSegment, getIntersection2DIdentical) +{ + const auto line = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); + + EXPECT_THROW(line.getIntersection2D(line), common::SimulationError); +} + +TEST(LineSegment, getSValue) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); + const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, false); + EXPECT_TRUE(s); + if (s) { + EXPECT_DOUBLE_EQ(s.value(), 2.0 / 3.0); + } +} + +TEST(LineSegment, getSValue_denormalize) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); + const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, true); + EXPECT_TRUE(s); + if (s) { + EXPECT_DOUBLE_EQ(s.value(), std::hypot(2.0, 2.0, 2.0)); } } +TEST(LineSegment, getSValue_outOfRange) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); + const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, false); + EXPECT_FALSE(s); +} + +TEST(LineSegment, getSValue_outOfRangeDenormalize) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); + const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, true); + EXPECT_FALSE(s); +} + +TEST(LineSegment, getSValue_parallel) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); + const auto s = line.getSValue( + makePose( + 1.0, 0.0, 0.0, + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), + 1000.0, false); + EXPECT_FALSE(s); +} + +TEST(LineSegment, getSValue_parallelDenormalize) +{ + math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); + const auto s = line.getSValue( + makePose( + 1.0, 0.0, 0.0, + math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), + 1000.0, true); + EXPECT_FALSE(s); +} + +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)); +} + +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)); +} + +TEST(LineSegment, getNormalVector) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0)); + EXPECT_VECTOR3_EQ(line.getNormalVector(), makeVector(-1.0, 1.0, 0.0)); +} + +TEST(LineSegment, getNormalVector_zeroLength) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(1.0, 2.0, 3.0)); + EXPECT_VECTOR3_EQ(line.getNormalVector(), makeVector(0.0, 0.0, 0.0)); +} + +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)); +} + +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)); +} + +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)); +} + +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); +} + +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)); +} + +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); +} + +TEST(LineSegment, getSlope) +{ + 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); +} + +TEST(LineSegment, getSlopeZeroLength) +{ + 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())); +} + +TEST(LineSegment, getSquaredDistanceIn2D) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); + EXPECT_DOUBLE_EQ(line.getSquaredDistanceIn2D(makePoint(0.0, 1.0, 2.0), 0.5, false), 8.0); +} + +TEST(LineSegment, getSquaredDistanceIn2D_denormalize) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); + EXPECT_DOUBLE_EQ( + line.getSquaredDistanceIn2D(makePoint(0.0, 1.0, 2.0), std::sqrt(3.0), true), 8.0); +} + +TEST(LineSegment, getSquaredDistanceVector) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); + EXPECT_VECTOR3_EQ( + line.getSquaredDistanceVector(makePoint(0.0, 1.0, 2.0), 0.5, false), + makeVector(-2.0, -2.0, -2.0)); +} + +TEST(LineSegment, getSquaredDistanceVector_denormalize) +{ + const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); + EXPECT_VECTOR3_EQ( + line.getSquaredDistanceVector(makePoint(0.0, 1.0, 2.0), std::sqrt(3.0), true), + makeVector(-2.0, -2.0, -2.0)); +} + +TEST(LineSegment, getLineSegments) +{ + const std::vector points{ + makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0), makePoint(3.0, 4.0, 5.0), + makePoint(4.0, 5.0, 6.0)}; + const std::vector lines = + math::geometry::getLineSegments(points, false); + EXPECT_EQ(lines.size(), size_t(3)); + EXPECT_POINT_EQ(lines[0].start_point, points[0]); + EXPECT_POINT_EQ(lines[0].end_point, points[1]); + EXPECT_POINT_EQ(lines[1].start_point, points[1]); + EXPECT_POINT_EQ(lines[1].end_point, points[2]); + EXPECT_POINT_EQ(lines[2].start_point, points[2]); + EXPECT_POINT_EQ(lines[2].end_point, points[3]); +} + +TEST(LineSegment, getLineSegments_closeStartEnd) +{ + const std::vector points{ + makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0), makePoint(3.0, 4.0, 5.0), + makePoint(4.0, 5.0, 6.0)}; + const std::vector lines = + math::geometry::getLineSegments(points, true); + EXPECT_EQ(lines.size(), size_t(4)); + EXPECT_POINT_EQ(lines[0].start_point, points[0]); + EXPECT_POINT_EQ(lines[0].end_point, points[1]); + EXPECT_POINT_EQ(lines[1].start_point, points[1]); + EXPECT_POINT_EQ(lines[1].end_point, points[2]); + EXPECT_POINT_EQ(lines[2].start_point, points[2]); + EXPECT_POINT_EQ(lines[2].end_point, points[3]); + EXPECT_POINT_EQ(lines[3].start_point, points[3]); + EXPECT_POINT_EQ(lines[3].end_point, points[0]); +} + +TEST(LineSegment, getLineSegmentsVectorEmpty) +{ + const std::vector points; + const std::vector lines = math::geometry::getLineSegments(points); + EXPECT_EQ(lines.size(), size_t(0)); +} + +TEST(LineSegment, getLineSegmentsVectorIdentical) +{ + geometry_msgs::msg::Point point = makePoint(1.0, 2.0, 3.0); + const std::vector points{point, point, point, point}; + const std::vector lines = + math::geometry::getLineSegments(points, false); + EXPECT_EQ(lines.size(), size_t(3)); + EXPECT_POINT_EQ(lines[0].start_point, point); + EXPECT_POINT_EQ(lines[0].end_point, point); + EXPECT_POINT_EQ(lines[1].start_point, point); + EXPECT_POINT_EQ(lines[1].end_point, point); + EXPECT_POINT_EQ(lines[2].start_point, point); + EXPECT_POINT_EQ(lines[2].end_point, point); +} + +TEST(LineSegment, getLineSegmentsVectorIdentical_closeStartEnd) +{ + geometry_msgs::msg::Point point = makePoint(1.0, 2.0, 3.0); + const std::vector points{point, point, point, point}; + const std::vector lines = + math::geometry::getLineSegments(points, true); + EXPECT_EQ(lines.size(), size_t(4)); + EXPECT_POINT_EQ(lines[0].start_point, point); + EXPECT_POINT_EQ(lines[0].end_point, point); + EXPECT_POINT_EQ(lines[1].start_point, point); + EXPECT_POINT_EQ(lines[1].end_point, point); + EXPECT_POINT_EQ(lines[2].start_point, point); + EXPECT_POINT_EQ(lines[2].end_point, point); + EXPECT_POINT_EQ(lines[3].start_point, point); + EXPECT_POINT_EQ(lines[3].end_point, point); +} + int main(int argc, char ** argv) { testing::InitGoogleTest(&argc, argv); From 378b26afa7f7e7e1ebcec8fd8e4f302c8a3e6dcf Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 08:55:25 +0200 Subject: [PATCH 201/304] tune down numbers --- common/math/geometry/test/src/polygon/test_line_segment.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 28f3a6991fa..4de7f9c7c41 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -499,8 +499,7 @@ TEST(LineSegment, isIntersect2D_pointOutside) math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); EXPECT_FALSE(line.isIntersect2D(makePoint(-1.0, -1.0, 1.0))); - EXPECT_FALSE(line.isIntersect2D( - makePoint(0.0, std::numeric_limits::max(), std::numeric_limits::max()))); + EXPECT_FALSE(line.isIntersect2D(makePoint(0.0, 89.0, 97.0))); EXPECT_FALSE(line.isIntersect2D(makePoint(-3.0, 0.0, 0.0))); EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 0.0, 0.0))); From db799fbc39fbc65cb324a1fd0e221ee1ebe7ca6a Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 09:47:57 +0200 Subject: [PATCH 202/304] quaternion operators --- .../test/src/quaternion/test_quaternion.cpp | 30 +++++++++---------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/common/math/geometry/test/src/quaternion/test_quaternion.cpp b/common/math/geometry/test/src/quaternion/test_quaternion.cpp index 14c7f3a82ba..0b15b1b777b 100644 --- a/common/math/geometry/test/src/quaternion/test_quaternion.cpp +++ b/common/math/geometry/test/src/quaternion/test_quaternion.cpp @@ -23,42 +23,42 @@ constexpr double EPS = 1e-6; -TEST(Quaternion, testCase1) +TEST(Quaternion, operator_addition) { using math::geometry::operator+; - auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto ans = q1 + q2; + const auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto ans = q1 + q2; EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 2, 0, 2)) } -TEST(Quaternion, testCase2) +TEST(Quaternion, operator_subtraction) { using math::geometry::operator-; - auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto ans = q1 - q2; + const auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto ans = q1 - q2; EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 0, 0, 0)) } -TEST(Quaternion, testCase3) +TEST(Quaternion, operator_multiplication) { using math::geometry::operator*; - auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto ans = q1 * q2; + const auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto ans = q1 * q2; EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 2, 0, 0)) } -TEST(Quaternion, testCase4) +TEST(Quaternion, operator_additionAssignment) { using math::geometry::operator+=; - auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); - auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); + const auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); q1 += q2; EXPECT_QUATERNION_EQ(q1, math::geometry::makeQuaternion(0, 2, 0, 2)) } From 407598fc9d0a8cef5fda344f4c204a9654161f4b Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 09:57:54 +0200 Subject: [PATCH 203/304] rename tests in CatmullRomSpline --- common/math/geometry/test/src/quaternion/test_quaternion.cpp | 2 +- .../math/geometry/test/src/spline/test_catmull_rom_spline.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/common/math/geometry/test/src/quaternion/test_quaternion.cpp b/common/math/geometry/test/src/quaternion/test_quaternion.cpp index 0b15b1b777b..d2b7aa857c8 100644 --- a/common/math/geometry/test/src/quaternion/test_quaternion.cpp +++ b/common/math/geometry/test/src/quaternion/test_quaternion.cpp @@ -57,7 +57,7 @@ TEST(Quaternion, operator_additionAssignment) { using math::geometry::operator+=; - const auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); + auto q1 = math::geometry::makeQuaternion(0, 1, 0, 1); const auto q2 = math::geometry::makeQuaternion(0, 1, 0, 1); q1 += q2; EXPECT_QUATERNION_EQ(q1, math::geometry::makeQuaternion(0, 2, 0, 2)) diff --git a/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp b/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp index b224e7d0d45..68ad3855eca 100644 --- a/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp +++ b/common/math/geometry/test/src/spline/test_catmull_rom_spline.cpp @@ -70,7 +70,7 @@ void addOffset(geometry_msgs::msg::Point & point, const double offset, const dou /// @brief Testing the `CatmullRomSpline::getCollisionPointIn2D` function works valid. /// In this test case, number of the control points of the catmull-rom spline (variable name `spline`) is 2, so the shape of the value `spline` is line segment. -TEST(CatmullRomSpline, GetCollisionWith2ControlPoints) +TEST(CatmullRomSpline, getCollisionPointIn2D_2ControlPoints) { /// @note The `spline` has control points p0 and p1. Control point p0 is point (x,y,z) = (0,0,0) and control point p1 is point (x,y,z) = (1,0,0) in the cartesian coordinate system. // [Snippet_construct_spline] @@ -149,7 +149,7 @@ TEST(CatmullRomSpline, GetCollisionWith2ControlPoints) /// @brief Testing the `CatmullRomSpline::getCollisionPointIn2D` function works valid /// In this test case, number of the control points of the catmull-rom spline (variable name `spline`) is 1, so the shape of the value `spline` is single point. -TEST(CatmullRomSpline, GetCollisionWith1ControlPoint) +TEST(CatmullRomSpline, getCollisionPointIn2D_1ControlPoint) { /// @note The variable `spline` has control point with point (x,y,z) = (0,1,0) in the cartesian coordinate system. So, `spline` is same as point (x,y,z) = (0,1,0). auto spline = math::geometry::CatmullRomSpline( From cb150e9d782e2350e5bfbea8ded993bad622f7d4 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 10:20:31 +0200 Subject: [PATCH 204/304] rename tests in HermiteCurve --- .../test/src/spline/test_hermite_curve.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/common/math/geometry/test/src/spline/test_hermite_curve.cpp b/common/math/geometry/test/src/spline/test_hermite_curve.cpp index 08ab6c3c4a0..833a2079322 100644 --- a/common/math/geometry/test/src/spline/test_hermite_curve.cpp +++ b/common/math/geometry/test/src/spline/test_hermite_curve.cpp @@ -503,7 +503,7 @@ TEST(HermiteCurveTest, getTangentVector4) EXPECT_DOUBLE_EQ(curve.getTangentVector(0.5, false).y / norm, 1.0 / std::sqrt(2.0)); } -TEST(HermiteCurveTest, getTangentVectorAutoscale1) +TEST(HermiteCurveTest, getTangentVectorDenormalized1) { //p(0,0) v(1,0)-> p(1,1) v(0,1) const auto curve = makeCurve1(); constexpr double eps = 0.1; @@ -513,7 +513,7 @@ TEST(HermiteCurveTest, getTangentVectorAutoscale1) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getTangentVectorAutoscale2) +TEST(HermiteCurveTest, getTangentVectorDenormalized2) { //p(0,0) v(1,0)-> p(1,-1) v(0,-1) const auto curve = makeCurve2(); constexpr double eps = 0.1; @@ -523,7 +523,7 @@ TEST(HermiteCurveTest, getTangentVectorAutoscale2) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getTangentVectorAutoscale3) +TEST(HermiteCurveTest, getTangentVectorDenormalized3) { //p(1,1) v(0,-1)-> p(0,0) v(-1,0) const auto curve = makeCurve3(); constexpr double eps = 0.1; @@ -533,7 +533,7 @@ TEST(HermiteCurveTest, getTangentVectorAutoscale3) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getTangentVectorAutoscale4) +TEST(HermiteCurveTest, getTangentVectorDenormalized4) { //p(1,-1) v(0,1)-> p(0,0) v(-1,0) const auto curve = makeCurve4(); constexpr double eps = 0.1; @@ -579,7 +579,7 @@ TEST(HermiteCurveTest, getNormalVector4) EXPECT_DOUBLE_EQ(curve.getNormalVector(0.5, false).y / norm, -1.0 / std::sqrt(2.0)); } -TEST(HermiteCurveTest, getNormalVectorAutoscale1) +TEST(HermiteCurveTest, getNormalVectorDenormalized1) { //p(0,0) v(1,0)-> p(1,1) v(0,1) const auto curve = makeCurve1(); constexpr double eps = 0.1; @@ -589,7 +589,7 @@ TEST(HermiteCurveTest, getNormalVectorAutoscale1) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getNormalVectorAutoscale2) +TEST(HermiteCurveTest, getNormalVectorDenormalized2) { //p(0,0) v(1,0)-> p(1,-1) v(0,-1) const auto curve = makeCurve2(); constexpr double eps = 0.1; @@ -599,7 +599,7 @@ TEST(HermiteCurveTest, getNormalVectorAutoscale2) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getNormalVectorAutoscale3) +TEST(HermiteCurveTest, getNormalVectorDenormalized3) { //p(1,1) v(0,-1)-> p(0,0) v(-1,0) const auto curve = makeCurve3(); constexpr double eps = 0.1; @@ -609,7 +609,7 @@ TEST(HermiteCurveTest, getNormalVectorAutoscale3) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } -TEST(HermiteCurveTest, getNormalVectorAutoscale4) +TEST(HermiteCurveTest, getNormalVectorDenormalized4) { //p(1,-1) v(0,1)-> p(0,0) v(-1,0) const auto curve = makeCurve4(); constexpr double eps = 0.1; From 80dea0de24a68ac8923b377c04fcc6c9d2e3603a Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 10:28:13 +0200 Subject: [PATCH 205/304] clean up vector3 --- .../test/src/spline/test_hermite_curve.cpp | 2 +- .../test/src/vector3/test_vector3.cpp | 22 +++++++------------ 2 files changed, 9 insertions(+), 15 deletions(-) diff --git a/common/math/geometry/test/src/spline/test_hermite_curve.cpp b/common/math/geometry/test/src/spline/test_hermite_curve.cpp index 833a2079322..0ea5f153526 100644 --- a/common/math/geometry/test/src/spline/test_hermite_curve.cpp +++ b/common/math/geometry/test/src/spline/test_hermite_curve.cpp @@ -320,7 +320,7 @@ TEST(HermiteCurveTest, getSValue) EXPECT_NEAR(s2.value(), 1.0, EPS); } -TEST(HermiteCurveTest, getSValueAutoscale) +TEST(HermiteCurveTest, getSValueDenormalized) { const auto curve = makeLine2(); diff --git a/common/math/geometry/test/src/vector3/test_vector3.cpp b/common/math/geometry/test/src/vector3/test_vector3.cpp index b07cfede363..45f24c3b726 100644 --- a/common/math/geometry/test/src/vector3/test_vector3.cpp +++ b/common/math/geometry/test/src/vector3/test_vector3.cpp @@ -75,6 +75,12 @@ TEST(Vector3, normalize_msgVector) const double norm = std::sqrt(14.0); EXPECT_VECTOR3_EQ( math::geometry::normalize(vec0), makeVector(1.0 / norm, 2.0 / norm, 3.0 / norm)); + + geometry_msgs::msg::Vector3 vec1; + EXPECT_DOUBLE_EQ(math::geometry::norm(vec1), 0.0); + + geometry_msgs::msg::Vector3 vec2 = makeVector(1.0, 0.0, 3.0); + EXPECT_DOUBLE_EQ(math::geometry::norm(vec2), std::sqrt(10.0)); } TEST(Vector3, normalize_customVector) @@ -184,25 +190,13 @@ TEST(Vector3, additionAssignment_customVector) EXPECT_VECTOR3_EQ(vec0, makeVector(0.0, 0.0, 2.0)); } -TEST(Vector3, vector3_getSizeZero) -{ - geometry_msgs::msg::Vector3 vec; - EXPECT_DOUBLE_EQ(math::geometry::norm(vec), 0.0); -} - -TEST(Vector3, vector3_getSize) -{ - geometry_msgs::msg::Vector3 vec = makeVector(1.0, 0.0, 3.0); - EXPECT_DOUBLE_EQ(math::geometry::norm(vec), std::sqrt(10.0)); -} - -TEST(Vector3, vector3_normalizeZero) +TEST(Vector3, normalize_zeroLength) { geometry_msgs::msg::Vector3 vec; EXPECT_THROW(math::geometry::normalize(vec), common::SimulationError); } -TEST(Vector3, vector3_normalize) +TEST(Vector3, normalize) { geometry_msgs::msg::Vector3 vec = makeVector(1.0, 0.0, 3.0); vec = math::geometry::normalize(vec); From 7249ae68cb1031fb9ca66d0e31dc3e6c3ae0a6f2 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 10:29:37 +0200 Subject: [PATCH 206/304] bounding_box clean up --- common/math/geometry/test/src/test_bounding_box.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/common/math/geometry/test/src/test_bounding_box.cpp b/common/math/geometry/test/src/test_bounding_box.cpp index c6df82911d0..36abed690c3 100644 --- a/common/math/geometry/test/src/test_bounding_box.cpp +++ b/common/math/geometry/test/src/test_bounding_box.cpp @@ -46,7 +46,7 @@ TEST(BoundingBox, getPointsFromBboxCustom) EXPECT_POINT_EQ(points[3], makePoint(6.5, -2.0, 1.0)); } -TEST(BoundingBox, get2DPolygonZeroPose) +TEST(BoundingBox, toPolygon2D_zeroPose) { geometry_msgs::msg::Pose pose; traffic_simulator_msgs::msg::BoundingBox bounding_box = makeBbox(2.0, 2.0, 2.0); @@ -61,7 +61,7 @@ TEST(BoundingBox, get2DPolygonZeroPose) EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(1.0, 1.0)); } -TEST(BoundingBox, get2DPolygonOnlyTranslation) +TEST(BoundingBox, toPolygon2D_onlyTranslation) { geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); traffic_simulator_msgs::msg::BoundingBox bounding_box = makeBbox(2.0, 2.0, 2.0); @@ -76,7 +76,7 @@ TEST(BoundingBox, get2DPolygonOnlyTranslation) EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(2.0, 3.0)); } -TEST(BoundingBox, get2DPolygonFullPose) +TEST(BoundingBox, toPolygon2D_fullPose) { geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); pose.orientation = math::geometry::convertEulerAngleToQuaternion( From 473585ed8b9805d7b67427bc53bd2e356afd87b9 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 11:49:28 +0200 Subject: [PATCH 207/304] add comments --- .../test/src/polygon/test_line_segment.cpp | 346 ++++-------------- .../test/src/quaternion/test_quaternion.cpp | 12 + .../test/src/spline/test_hermite_curve.cpp | 27 ++ .../geometry/test/src/test_bounding_box.cpp | 9 + .../test/src/vector3/test_vector3.cpp | 6 + 5 files changed, 121 insertions(+), 279 deletions(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 4de7f9c7c41..9ab3829d121 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -70,285 +70,10 @@ TEST(LineSegment, initializeVectorZeroLength) EXPECT_POINT_EQ(line_segment.end_point, point); } -TEST(LineSegment, isIntersect2DDisjoint) -{ - const math::geometry::LineSegment line0(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makePoint(2.0, 1.0)); - EXPECT_FALSE(line0.isIntersect2D(line1)); -} - -TEST(LineSegment, isIntersect2DIntersect) -{ - const math::geometry::LineSegment line0(makePoint(1.0, 1.0), makePoint(2.0, 1.0)); - const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makeVector(1.0, 1.0), 3.0); - EXPECT_TRUE(line0.isIntersect2D(line1)); -} - -TEST(LineSegment, isIntersect2DIdentical) -{ - const math::geometry::LineSegment line(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - EXPECT_TRUE(line.isIntersect2D(line)); -} - -TEST(LineSegment, getIntersection2DDisjoint) -{ - const math::geometry::LineSegment line0(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - const math::geometry::LineSegment line1(makePoint(1.0, 0.0), makePoint(2.0, 1.0)); - EXPECT_FALSE(line0.getIntersection2D(line1)); -} - -TEST(LineSegment, getIntersection2DIntersect) -{ - const auto line0 = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - const auto line1 = math::geometry::LineSegment(makePoint(1.0, 0.0), makePoint(0.0, 1.0)); - - const auto p0 = line0.getIntersection2D(line1); - const auto p1 = line1.getIntersection2D(line0); - - ASSERT_TRUE(p0.has_value()); - ASSERT_TRUE(p1.has_value()); - EXPECT_POINT_EQ(p0.value(), makePoint(0.5, 0.5)); - EXPECT_POINT_EQ(p1.value(), makePoint(0.5, 0.5)); -} - -TEST(LineSegment, getIntersection2DIdentical) -{ - const auto line = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); - - EXPECT_THROW(line.getIntersection2D(line), common::SimulationError); -} - -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.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.vector, makeVector(0.0, 0.0, 0.0)); -} - -TEST(LineSegment, getNormalVector) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0)); - EXPECT_VECTOR3_EQ(line.getNormalVector(), makeVector(-1.0, 1.0, 0.0)); -} - -TEST(LineSegment, getNormalVector_zeroLength) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(1.0, 2.0, 3.0)); - EXPECT_VECTOR3_EQ(line.getNormalVector(), makeVector(0.0, 0.0, 0.0)); -} - -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.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.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.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.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.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.length_2d, 0.0); -} - -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.get2DVectorSlope(), 0.5); -} - -TEST(LineSegment, get2DVectorSlopeZeroLength) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(1.0, 2.0, 3.0)); - EXPECT_THROW(line.get2DVectorSlope(), common::SimulationError); -} - -TEST(LineSegment, getSquaredDistanceIn2D) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); - EXPECT_DOUBLE_EQ(line.getSquaredDistanceIn2D(makePoint(0.0, 1.0, 2.0), 0.5, false), 8.0); -} - -TEST(LineSegment, getSquaredDistanceIn2D_denormalize) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); - EXPECT_DOUBLE_EQ( - line.getSquaredDistanceIn2D(makePoint(0.0, 1.0, 2.0), std::sqrt(3.0), true), 8.0); -} - -TEST(LineSegment, getSquaredDistanceVector) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); - EXPECT_VECTOR3_EQ( - line.getSquaredDistanceVector(makePoint(0.0, 1.0, 2.0), 0.5, false), - makeVector(-2.0, -2.0, -2.0)); -} - -TEST(LineSegment, getSquaredDistanceVector_denormalize) -{ - const math::geometry::LineSegment line(makePoint(1.0, 2.0, 3.0), makePoint(3.0, 4.0, 5.0)); - EXPECT_VECTOR3_EQ( - line.getSquaredDistanceVector(makePoint(0.0, 1.0, 2.0), std::sqrt(3.0), true), - makeVector(-2.0, -2.0, -2.0)); -} - -TEST(LineSegment, getLineSegments) -{ - const std::vector points{ - makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0), makePoint(3.0, 4.0, 5.0), - makePoint(4.0, 5.0, 6.0)}; - const std::vector lines = - math::geometry::getLineSegments(points, false); - EXPECT_EQ(lines.size(), size_t(3)); - EXPECT_POINT_EQ(lines[0].start_point, points[0]); - EXPECT_POINT_EQ(lines[0].end_point, points[1]); - EXPECT_POINT_EQ(lines[1].start_point, points[1]); - EXPECT_POINT_EQ(lines[1].end_point, points[2]); - EXPECT_POINT_EQ(lines[2].start_point, points[2]); - EXPECT_POINT_EQ(lines[2].end_point, points[3]); -} - -TEST(LineSegment, getLineSegments_closeStartEnd) -{ - const std::vector points{ - makePoint(1.0, 2.0, 3.0), makePoint(2.0, 3.0, 4.0), makePoint(3.0, 4.0, 5.0), - makePoint(4.0, 5.0, 6.0)}; - const std::vector lines = - math::geometry::getLineSegments(points, true); - EXPECT_EQ(lines.size(), size_t(4)); - EXPECT_POINT_EQ(lines[0].start_point, points[0]); - EXPECT_POINT_EQ(lines[0].end_point, points[1]); - EXPECT_POINT_EQ(lines[1].start_point, points[1]); - EXPECT_POINT_EQ(lines[1].end_point, points[2]); - EXPECT_POINT_EQ(lines[2].start_point, points[2]); - EXPECT_POINT_EQ(lines[2].end_point, points[3]); - EXPECT_POINT_EQ(lines[3].start_point, points[3]); - EXPECT_POINT_EQ(lines[3].end_point, points[0]); -} - -TEST(LineSegment, getLineSegmentsVectorEmpty) -{ - const std::vector points; - const std::vector lines = math::geometry::getLineSegments(points); - EXPECT_EQ(lines.size(), size_t(0)); -} - -TEST(LineSegment, getLineSegmentsVectorIdentical) -{ - geometry_msgs::msg::Point point = makePoint(1.0, 2.0, 3.0); - const std::vector points{point, point, point, point}; - const std::vector lines = - math::geometry::getLineSegments(points, false); - EXPECT_EQ(lines.size(), size_t(3)); - EXPECT_POINT_EQ(lines[0].start_point, point); - EXPECT_POINT_EQ(lines[0].end_point, point); - EXPECT_POINT_EQ(lines[1].start_point, point); - EXPECT_POINT_EQ(lines[1].end_point, point); - EXPECT_POINT_EQ(lines[2].start_point, point); - EXPECT_POINT_EQ(lines[2].end_point, point); -} - -TEST(LineSegment, getLineSegmentsVectorIdentical_closeStartEnd) -{ - geometry_msgs::msg::Point point = makePoint(1.0, 2.0, 3.0); - const std::vector points{point, point, point, point}; - const std::vector lines = - math::geometry::getLineSegments(points, true); - EXPECT_EQ(lines.size(), size_t(4)); - EXPECT_POINT_EQ(lines[0].start_point, point); - EXPECT_POINT_EQ(lines[0].end_point, point); - EXPECT_POINT_EQ(lines[1].start_point, point); - EXPECT_POINT_EQ(lines[1].end_point, point); - EXPECT_POINT_EQ(lines[2].start_point, point); - EXPECT_POINT_EQ(lines[2].end_point, point); - EXPECT_POINT_EQ(lines[3].start_point, point); - EXPECT_POINT_EQ(lines[3].end_point, point); -} - -TEST(LineSegment, getSValue) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, false); - EXPECT_TRUE(s); - if (s) { - EXPECT_DOUBLE_EQ(s.value(), 2.0 / 3.0); - } -} - -TEST(LineSegment, getSValue_denormalize) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(2.0, 2.0, 2.0), 1.0, true); - EXPECT_TRUE(s); - if (s) { - EXPECT_DOUBLE_EQ(s.value(), std::hypot(2.0, 2.0, 2.0)); - } -} - -TEST(LineSegment, getSValue_outOfRange) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, false); - EXPECT_FALSE(s); -} - -TEST(LineSegment, getSValue_outOfRangeDenormalize) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 3.0)); - const auto s = line.getSValue(makePose(4.0, 4.0, 4.0), 1.0, true); - EXPECT_FALSE(s); -} - -TEST(LineSegment, getSValue_parallel) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); - const auto s = line.getSValue( - makePose( - 1.0, 0.0, 0.0, - math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), - 1000.0, false); - EXPECT_FALSE(s); -} - -TEST(LineSegment, getSValue_parallelDenormalize) -{ - math::geometry::LineSegment line(makePoint(0.0, 0.0, 0.0), makePoint(3.0, 3.0, 0.0)); - const auto s = line.getSValue( - makePose( - 1.0, 0.0, 0.0, - math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4 * 3.0))), - 1000.0, true); - EXPECT_FALSE(s); -} - -TEST(LineSegment, GetPoint_outOfBounds_denormalized) +/** + * @note Test error throwing when s is out of bounds. + */ +TEST(LineSegment, getPoint_outOfBounds_denormalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); @@ -358,6 +83,9 @@ TEST(LineSegment, GetPoint_outOfBounds_denormalized) EXPECT_THROW(line.getPoint(-1.0, true), common::SimulationError); } +/** + * @note Test error throwing when normalized s is out of bounds. + */ TEST(LineSegment, getPoint_outOfBounds_normalized) { const auto line = @@ -368,6 +96,9 @@ TEST(LineSegment, getPoint_outOfBounds_normalized) EXPECT_THROW(line.getPoint(-0.1, false), common::SimulationError); } +/** + * @note Test calculation correctness when s is out of bounds. + */ TEST(LineSegment, getPoint_inside_denormalized) { const auto line = @@ -379,6 +110,9 @@ TEST(LineSegment, getPoint_inside_denormalized) EXPECT_POINT_EQ(line.getPoint(6.0, true), makePoint(3.0, 2.0, -1.0)); } +/** + * @note Test calculation correctness when normalized s is out of bounds. + */ TEST(LineSegment, getPoint_inside_normalized) { const auto line = @@ -390,6 +124,9 @@ TEST(LineSegment, getPoint_inside_normalized) EXPECT_POINT_EQ(line.getPoint(1.0, false), makePoint(3.0, 2.0, -1.0)); } +/** + * @note Test calculation correctness with denormalized s. + */ TEST(LineSegment, getPose_denormalized) { const auto line = @@ -414,6 +151,9 @@ TEST(LineSegment, getPose_denormalized) 3.0, 2.0, 4.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); } +/** + * @note Test calculation correctness with normalized s. + */ TEST(LineSegment, getPose_normalized) { const auto line = @@ -438,6 +178,9 @@ TEST(LineSegment, getPose_normalized) 3.0, 2.0, 4.0, math::geometry::convertEulerAngleToQuaternion(makeVector(0.0, 0.0, M_PI_4)))); } +/** + * @note Test pitch calculation correctness with fill_pitch = true. + */ TEST(LineSegment, getPose_pitch) { const auto line = math::geometry::LineSegment( @@ -484,6 +227,9 @@ TEST(LineSegment, isIntersect2DIdentical) EXPECT_TRUE(line.isIntersect2D(line)); } +/** + * @note Test function behavior with a point on the line. + */ TEST(LineSegment, isIntersect2D_pointInside) { const auto line = @@ -493,6 +239,9 @@ TEST(LineSegment, isIntersect2D_pointInside) EXPECT_TRUE(line.isIntersect2D(makePoint(0.0, -1.0, 0.0))); } +/** + * @note Test function behavior with a point outside of the line. + */ TEST(LineSegment, isIntersect2D_pointOutside) { const auto line = @@ -505,6 +254,9 @@ TEST(LineSegment, isIntersect2D_pointOutside) EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 0.0, 0.0))); } +/** + * @note Test function behavior with a point that is collinear and external to the line. + */ TEST(LineSegment, isIntersect2D_pointCollinear) { const auto line = @@ -517,6 +269,9 @@ TEST(LineSegment, isIntersect2D_pointCollinear) EXPECT_FALSE(line.isIntersect2D(makePoint(4.0, 3.0, 0.0))); } +/** + * @note Test function behavior with a point on an end of the line. + */ TEST(LineSegment, isIntersect2D_pointOnEnd) { const auto line = @@ -529,6 +284,9 @@ TEST(LineSegment, isIntersect2D_pointOnEnd) EXPECT_TRUE(line.isIntersect2D(makePoint(3.0, 2.0, -5.0))); } +/** + * @note Test result correctness with a line intersecting with a vertical line. + */ TEST(LineSegment, getIntersection2DSValue_line_vertical) { const auto line = @@ -547,6 +305,9 @@ TEST(LineSegment, getIntersection2DSValue_line_vertical) } } +/** + * @note Test result correctness with a line intersecting with a horizontal line. + */ TEST(LineSegment, getIntersection2DSValue_line_horizontal) { const auto line = @@ -565,6 +326,9 @@ TEST(LineSegment, getIntersection2DSValue_line_horizontal) } } +/** + * @note Test result correctness with lines intersecting at the start and end of a line. + */ TEST(LineSegment, getIntersection2DSValue_line_bounds) { const auto line = @@ -583,6 +347,9 @@ TEST(LineSegment, getIntersection2DSValue_line_bounds) } } +/** + * @note Test result correctness with a line outside of the line. + */ TEST(LineSegment, getIntersection2DSValue_line_outside) { const auto line = @@ -601,6 +368,9 @@ TEST(LineSegment, getIntersection2DSValue_line_outside) .has_value()); } +/** + * @note Test result correctness when lines are collinear. + */ TEST(LineSegment, getIntersection2DSValue_line_collinear) { const auto line = @@ -615,6 +385,9 @@ TEST(LineSegment, getIntersection2DSValue_line_collinear) .has_value()); } +/** + * @note Test result correctness with a point inside a vertical line. + */ TEST(LineSegment, getIntersection2DSValue_point_vertical) { const auto line = @@ -638,6 +411,9 @@ TEST(LineSegment, getIntersection2DSValue_point_vertical) } } +/** + * @note Test result correctness with a point inside a horizontal line. + */ TEST(LineSegment, getIntersection2DSValue_point_horizontal) { const auto line = @@ -661,6 +437,9 @@ TEST(LineSegment, getIntersection2DSValue_point_horizontal) } } +/** + * @note Test result correctness with points at the start and end of a line. + */ TEST(LineSegment, getIntersection2DSValue_point_bounds) { const auto line = @@ -697,6 +476,9 @@ TEST(LineSegment, getIntersection2DSValue_point_bounds) } } +/** + * @note Test result correctness with a point outside of the line. + */ TEST(LineSegment, getIntersection2DSValue_point_outside) { const auto line = @@ -725,6 +507,9 @@ TEST(LineSegment, getIntersection2DDisjoint) EXPECT_FALSE(line0.getIntersection2D(line1)); } +/** + * @note Test function behavior with two intersecting lines. + */ TEST(LineSegment, getIntersection2DIntersect) { const auto line0 = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); @@ -739,6 +524,9 @@ TEST(LineSegment, getIntersection2DIntersect) EXPECT_POINT_EQ(p1.value(), makePoint(0.5, 0.5)); } +/** + * @note Test function behavior with two identical lines. + */ TEST(LineSegment, getIntersection2DIdentical) { const auto line = math::geometry::LineSegment(makePoint(0.0, 0.0), makePoint(1.0, 1.0)); diff --git a/common/math/geometry/test/src/quaternion/test_quaternion.cpp b/common/math/geometry/test/src/quaternion/test_quaternion.cpp index d2b7aa857c8..0b31df60805 100644 --- a/common/math/geometry/test/src/quaternion/test_quaternion.cpp +++ b/common/math/geometry/test/src/quaternion/test_quaternion.cpp @@ -23,6 +23,9 @@ constexpr double EPS = 1e-6; +/** + * @note Test result correctness with a basic example. + */ TEST(Quaternion, operator_addition) { using math::geometry::operator+; @@ -33,6 +36,9 @@ TEST(Quaternion, operator_addition) EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 2, 0, 2)) } +/** + * @note Test result correctness with a basic example. + */ TEST(Quaternion, operator_subtraction) { using math::geometry::operator-; @@ -43,6 +49,9 @@ TEST(Quaternion, operator_subtraction) EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 0, 0, 0)) } +/** + * @note Test result correctness with a basic example. + */ TEST(Quaternion, operator_multiplication) { using math::geometry::operator*; @@ -53,6 +62,9 @@ TEST(Quaternion, operator_multiplication) EXPECT_QUATERNION_EQ(ans, math::geometry::makeQuaternion(0, 2, 0, 0)) } +/** + * @note Test result correctness with a basic example. + */ TEST(Quaternion, operator_additionAssignment) { using math::geometry::operator+=; diff --git a/common/math/geometry/test/src/spline/test_hermite_curve.cpp b/common/math/geometry/test/src/spline/test_hermite_curve.cpp index 0ea5f153526..96eb39fd2ec 100644 --- a/common/math/geometry/test/src/spline/test_hermite_curve.cpp +++ b/common/math/geometry/test/src/spline/test_hermite_curve.cpp @@ -320,6 +320,9 @@ TEST(HermiteCurveTest, getSValue) EXPECT_NEAR(s2.value(), 1.0, EPS); } +/** + * @note Test function correctness with parameter denormalize_s = true. + */ TEST(HermiteCurveTest, getSValueDenormalized) { const auto curve = makeLine2(); @@ -503,6 +506,9 @@ TEST(HermiteCurveTest, getTangentVector4) EXPECT_DOUBLE_EQ(curve.getTangentVector(0.5, false).y / norm, 1.0 / std::sqrt(2.0)); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getTangentVectorDenormalized1) { //p(0,0) v(1,0)-> p(1,1) v(0,1) const auto curve = makeCurve1(); @@ -513,6 +519,9 @@ TEST(HermiteCurveTest, getTangentVectorDenormalized1) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getTangentVectorDenormalized2) { //p(0,0) v(1,0)-> p(1,-1) v(0,-1) const auto curve = makeCurve2(); @@ -523,6 +532,9 @@ TEST(HermiteCurveTest, getTangentVectorDenormalized2) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getTangentVectorDenormalized3) { //p(1,1) v(0,-1)-> p(0,0) v(-1,0) const auto curve = makeCurve3(); @@ -533,6 +545,9 @@ TEST(HermiteCurveTest, getTangentVectorDenormalized3) EXPECT_NEAR(curve.getTangentVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getTangentVectorDenormalized4) { //p(1,-1) v(0,1)-> p(0,0) v(-1,0) const auto curve = makeCurve4(); @@ -579,6 +594,9 @@ TEST(HermiteCurveTest, getNormalVector4) EXPECT_DOUBLE_EQ(curve.getNormalVector(0.5, false).y / norm, -1.0 / std::sqrt(2.0)); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getNormalVectorDenormalized1) { //p(0,0) v(1,0)-> p(1,1) v(0,1) const auto curve = makeCurve1(); @@ -589,6 +607,9 @@ TEST(HermiteCurveTest, getNormalVectorDenormalized1) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getNormalVectorDenormalized2) { //p(0,0) v(1,0)-> p(1,-1) v(0,-1) const auto curve = makeCurve2(); @@ -599,6 +620,9 @@ TEST(HermiteCurveTest, getNormalVectorDenormalized2) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, 1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getNormalVectorDenormalized3) { //p(1,1) v(0,-1)-> p(0,0) v(-1,0) const auto curve = makeCurve3(); @@ -609,6 +633,9 @@ TEST(HermiteCurveTest, getNormalVectorDenormalized3) EXPECT_NEAR(curve.getNormalVector(0.75, true).y / norm, -1.0 / std::sqrt(2.0), eps); } +/** + * @note Test function correctness with parameter denormalize_s = true with different curves. + */ TEST(HermiteCurveTest, getNormalVectorDenormalized4) { //p(1,-1) v(0,1)-> p(0,0) v(-1,0) const auto curve = makeCurve4(); diff --git a/common/math/geometry/test/src/test_bounding_box.cpp b/common/math/geometry/test/src/test_bounding_box.cpp index 36abed690c3..7ee06e9cfa3 100644 --- a/common/math/geometry/test/src/test_bounding_box.cpp +++ b/common/math/geometry/test/src/test_bounding_box.cpp @@ -46,6 +46,9 @@ TEST(BoundingBox, getPointsFromBboxCustom) EXPECT_POINT_EQ(points[3], makePoint(6.5, -2.0, 1.0)); } +/** + * @note Test obtaining polygon from bounding box with no transformation applied. + */ TEST(BoundingBox, toPolygon2D_zeroPose) { geometry_msgs::msg::Pose pose; @@ -61,6 +64,9 @@ TEST(BoundingBox, toPolygon2D_zeroPose) EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(1.0, 1.0)); } +/** + * @note Test obtaining polygon from bounding box with only translation applied. + */ TEST(BoundingBox, toPolygon2D_onlyTranslation) { geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); @@ -76,6 +82,9 @@ TEST(BoundingBox, toPolygon2D_onlyTranslation) EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(2.0, 3.0)); } +/** + * @note Test obtaining polygon from bounding box with full transformation applied (translation + rotation). + */ TEST(BoundingBox, toPolygon2D_fullPose) { geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); diff --git a/common/math/geometry/test/src/vector3/test_vector3.cpp b/common/math/geometry/test/src/vector3/test_vector3.cpp index 45f24c3b726..c75f7177d3e 100644 --- a/common/math/geometry/test/src/vector3/test_vector3.cpp +++ b/common/math/geometry/test/src/vector3/test_vector3.cpp @@ -54,6 +54,9 @@ TEST(Vector3, hypot_customVector) EXPECT_DOUBLE_EQ(math::geometry::hypot(vec0, vec1), 6.0); } +/** + * @note Test function correctness with parameter that is ros message vector. + */ TEST(Vector3, norm_msgVector) { geometry_msgs::msg::Vector3 vec0 = makeVector(1.0, 2.0, 3.0); @@ -190,6 +193,9 @@ TEST(Vector3, additionAssignment_customVector) EXPECT_VECTOR3_EQ(vec0, makeVector(0.0, 0.0, 2.0)); } +/** + * @note Test function correctness when one of the vectors has length of 0. + */ TEST(Vector3, normalize_zeroLength) { geometry_msgs::msg::Vector3 vec; From e811a2650b7389f0235d21751b62f63805565052 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 6 Aug 2024 14:13:19 +0200 Subject: [PATCH 208/304] refactor toPolygon2D tests --- .../geometry/test/src/test_bounding_box.cpp | 72 ++++++++++--------- 1 file changed, 37 insertions(+), 35 deletions(-) diff --git a/common/math/geometry/test/src/test_bounding_box.cpp b/common/math/geometry/test/src/test_bounding_box.cpp index 7ee06e9cfa3..b3449f994e4 100644 --- a/common/math/geometry/test/src/test_bounding_box.cpp +++ b/common/math/geometry/test/src/test_bounding_box.cpp @@ -51,17 +51,17 @@ TEST(BoundingBox, getPointsFromBboxCustom) */ TEST(BoundingBox, toPolygon2D_zeroPose) { - geometry_msgs::msg::Pose pose; - traffic_simulator_msgs::msg::BoundingBox bounding_box = makeBbox(2.0, 2.0, 2.0); - boost::geometry::model::polygon> poly = - math::geometry::toPolygon2D(pose, bounding_box); - EXPECT_EQ(poly.inners().size(), size_t(0)); - EXPECT_EQ(poly.outer().size(), size_t(5)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[0], makePoint(1.0, 1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[1], makePoint(-1.0, 1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[2], makePoint(-1.0, -1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[3], makePoint(1.0, -1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(1.0, 1.0)); + const auto pose = geometry_msgs::msg::Pose(); + const auto bounding_box = makeBbox(2.0, 2.0, 2.0); + const auto polygon = math::geometry::toPolygon2D(pose, bounding_box); + + ASSERT_EQ(polygon.inners().size(), static_cast(0)); + ASSERT_EQ(polygon.outer().size(), static_cast(5)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[0], makePoint(1.0, 1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[1], makePoint(-1.0, 1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[2], makePoint(-1.0, -1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[3], makePoint(1.0, -1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[4], makePoint(1.0, 1.0)); } /** @@ -69,17 +69,17 @@ TEST(BoundingBox, toPolygon2D_zeroPose) */ TEST(BoundingBox, toPolygon2D_onlyTranslation) { - geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); - traffic_simulator_msgs::msg::BoundingBox bounding_box = makeBbox(2.0, 2.0, 2.0); - boost::geometry::model::polygon> poly = - math::geometry::toPolygon2D(pose, bounding_box); - EXPECT_EQ(poly.inners().size(), size_t(0)); - EXPECT_EQ(poly.outer().size(), size_t(5)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[0], makePoint(2.0, 3.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[1], makePoint(0.0, 3.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[2], makePoint(0.0, 1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[3], makePoint(2.0, 1.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(2.0, 3.0)); + const auto pose = makePose(1.0, 2.0); + const auto bounding_box = makeBbox(2.0, 2.0, 2.0); + const auto polygon = math::geometry::toPolygon2D(pose, bounding_box); + + ASSERT_EQ(polygon.inners().size(), static_cast(0)); + ASSERT_EQ(polygon.outer().size(), static_cast(5)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[0], makePoint(2.0, 3.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[1], makePoint(0.0, 3.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[2], makePoint(0.0, 1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[3], makePoint(2.0, 1.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[4], makePoint(2.0, 3.0)); } /** @@ -87,21 +87,23 @@ TEST(BoundingBox, toPolygon2D_onlyTranslation) */ TEST(BoundingBox, toPolygon2D_fullPose) { - geometry_msgs::msg::Pose pose = makePose(1.0, 2.0); - pose.orientation = math::geometry::convertEulerAngleToQuaternion( - geometry_msgs::build().x(0.0).y(0.0).z(30.0 * M_PI / 180.0)); - traffic_simulator_msgs::msg::BoundingBox bounding_box = makeBbox(2.0, 2.0, 2.0); - boost::geometry::model::polygon> poly = - math::geometry::toPolygon2D(pose, bounding_box); - EXPECT_EQ(poly.inners().size(), size_t(0)); - EXPECT_EQ(poly.outer().size(), size_t(5)); + const auto pose = makePose( + 1.0, 2.0, 0.0, + math::geometry::convertEulerAngleToQuaternion( + geometry_msgs::build().x(0.0).y(0.0).z(30.0 * M_PI / 180.0))); + + const auto bounding_box = makeBbox(2.0, 2.0, 2.0); + const auto polygon = math::geometry::toPolygon2D(pose, bounding_box); + ASSERT_EQ(polygon.inners().size(), static_cast(0)); + ASSERT_EQ(polygon.outer().size(), static_cast(5)); + const double x = std::sqrt(2.0) * std::cos((30.0 + 45.0) * M_PI / 180.0); const double y = std::sqrt(2.0) * std::sin((30.0 + 45.0) * M_PI / 180.0); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[0], makePoint(x + 1.0, y + 2.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[1], makePoint(-y + 1.0, x + 2.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[2], makePoint(-x + 1.0, -y + 2.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[3], makePoint(y + 1.0, -x + 2.0)); - EXPECT_BOOST_POINT_2D_AND_POINT_EQ(poly.outer()[4], makePoint(x + 1.0, y + 2.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[0], makePoint(x + 1.0, y + 2.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[1], makePoint(-y + 1.0, x + 2.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[2], makePoint(-x + 1.0, -y + 2.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[3], makePoint(y + 1.0, -x + 2.0)); + EXPECT_BOOST_POINT_2D_AND_POINT_EQ(polygon.outer()[4], makePoint(x + 1.0, y + 2.0)); } TEST(BoundingBox, getPolygonDistanceWithCollision) From fbef66f40c4f06aae69217d3040369285660f931 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 19 Aug 2024 11:52:04 +0200 Subject: [PATCH 209/304] isIntersect2D_collinear --- .../test/src/polygon/test_line_segment.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 9ab3829d121..0cddb807aa7 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -227,6 +227,21 @@ TEST(LineSegment, isIntersect2DIdentical) EXPECT_TRUE(line.isIntersect2D(line)); } +/** + * @note Test function behavior with two disjoint, collinear lines. + */ + +TEST(LineSegment, isIntersect2D_collinear) +{ + const auto line = + math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); + + EXPECT_FALSE(line.isIntersect2D( + math::geometry::LineSegment(makePoint(3.0, 5.0, 0.0), makePoint(5.0, 7.0, 0.0)))); + EXPECT_FALSE(line.isIntersect2D( + math::geometry::LineSegment(makePoint(-3.0, -1.0, 0.0), makePoint(-1.0, 1.0, 0.0)))); +} + /** * @note Test function behavior with a point on the line. */ From 240ef334443a034461f9e66c5412d8161d14a93b Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 19 Aug 2024 15:16:55 +0200 Subject: [PATCH 210/304] remove empty line --- common/math/geometry/test/src/polygon/test_line_segment.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index 0cddb807aa7..b6e7bec4f0a 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -230,7 +230,6 @@ TEST(LineSegment, isIntersect2DIdentical) /** * @note Test function behavior with two disjoint, collinear lines. */ - TEST(LineSegment, isIntersect2D_collinear) { const auto line = From f9dd0e317092363a0e693701bb39ea6d6ef07bc0 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 19 Aug 2024 15:22:17 +0200 Subject: [PATCH 211/304] update testcase --- common/math/geometry/test/src/polygon/test_line_segment.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index b6e7bec4f0a..eac5222db07 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -238,7 +238,7 @@ TEST(LineSegment, isIntersect2D_collinear) EXPECT_FALSE(line.isIntersect2D( math::geometry::LineSegment(makePoint(3.0, 5.0, 0.0), makePoint(5.0, 7.0, 0.0)))); EXPECT_FALSE(line.isIntersect2D( - math::geometry::LineSegment(makePoint(-3.0, -1.0, 0.0), makePoint(-1.0, 1.0, 0.0)))); + math::geometry::LineSegment(makePoint(-3.0, -1.0, 0.0), makePoint(-2.0, 0.0, 0.0)))); } /** From a954b89f3874f56eeddcce4c10c2282731e17245 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 3 Sep 2024 17:05:52 +0900 Subject: [PATCH 212/304] Add feature to forward parameters prefixed with `autoware.` to Autoware Signed-off-by: yamacir-kit --- .../concealer/include/concealer/launch.hpp | 29 ++++++++++------ .../src/entity/ego_entity.cpp | 34 ++++++++++--------- .../launch/scenario_test_runner.launch.py | 16 +++++++++ 3 files changed, 52 insertions(+), 27 deletions(-) diff --git a/external/concealer/include/concealer/launch.hpp b/external/concealer/include/concealer/launch.hpp index 99ba2556654..54f1459f1b3 100644 --- a/external/concealer/include/concealer/launch.hpp +++ b/external/concealer/include/concealer/launch.hpp @@ -33,8 +33,9 @@ namespace concealer { -template -auto ros2_launch(const std::string & package, const std::string & file, Ts &&... xs) +template +auto ros2_launch( + const std::string & package, const std::string & file, const Parameters & parameters) { #ifdef CONCEALER_ISOLATE_STANDARD_OUTPUT const std::string log_filename = "/tmp/scenario_test_runner/autoware-output.txt"; @@ -44,17 +45,23 @@ auto ros2_launch(const std::string & package, const std::string & file, Ts &&... ::close(fd); #endif - const auto process_id = fork(); + const auto argv = [&]() { + auto argv = std::vector(); - const std::vector argv{ - "python3", - boost::algorithm::replace_all_copy(dollar("which ros2"), "\n", ""), - "launch", // NOTE: The command 'ros2' is a Python script. - package, - file, - std::forward(xs)...}; + argv.push_back("python3"); + argv.push_back(boost::algorithm::replace_all_copy(dollar("which ros2"), "\n", "")); + argv.push_back("launch"); + argv.push_back(package); + argv.push_back(file); - if (process_id < 0) { + for (const auto & parameter : parameters) { + argv.push_back(parameter); + } + + return argv; + }(); + + if (const auto process_id = fork(); process_id < 0) { throw std::system_error(errno, std::system_category()); } else if (process_id == 0 and execute(argv) < 0) { std::cout << std::system_error(errno, std::system_category()).what() << std::endl; diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index 6e29abdeb2d..d58f31ae94e 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -41,26 +41,28 @@ auto EgoEntity::makeFieldOperatorApplication( if (const auto architecture_type = getParameter(node_parameters, "architecture_type", "awf/universe"); architecture_type.find("awf/universe") != std::string::npos) { - std::string rviz_config = getParameter(node_parameters, "rviz_config", ""); + const auto rviz_config = getParameter(node_parameters, "rviz_config", ""); + + auto parameters = getParameter>(node_parameters, "autoware.", {}); + + // clang-format off + parameters.push_back("map_path:=" + configuration.map_path.string()); + parameters.push_back("lanelet2_map_file:=" + configuration.getLanelet2MapFile()); + parameters.push_back("pointcloud_map_file:=" + configuration.getPointCloudMapFile()); + parameters.push_back("sensor_model:=" + getParameter(node_parameters, "sensor_model")); + parameters.push_back("vehicle_model:=" + getParameter(node_parameters, "vehicle_model")); + parameters.push_back("rviz_config:=" + (rviz_config.empty() ? configuration.rviz_config_path.string() : rviz_config)); + parameters.push_back("scenario_simulation:=true"); + parameters.push_back("use_foa:=false"); + parameters.push_back("perception/enable_traffic_light:=" + std::string((architecture_type >= "awf/universe/20230906") ? "true" : "false")); + parameters.push_back("use_sim_time:=" + std::string(getParameter(node_parameters, "use_sim_time", false) ? "true" : "false")); + // clang-format on + return getParameter(node_parameters, "launch_autoware", true) ? std::make_unique< concealer::FieldOperatorApplicationFor>( getParameter(node_parameters, "autoware_launch_package"), - getParameter(node_parameters, "autoware_launch_file"), - "map_path:=" + configuration.map_path.string(), - "lanelet2_map_file:=" + configuration.getLanelet2MapFile(), - "pointcloud_map_file:=" + configuration.getPointCloudMapFile(), - "sensor_model:=" + getParameter(node_parameters, "sensor_model"), - "vehicle_model:=" + getParameter(node_parameters, "vehicle_model"), - "rviz_config:=" + ((rviz_config == "") - ? configuration.rviz_config_path.string() - : Configuration::Pathname(rviz_config).string()), - "scenario_simulation:=true", "use_foa:=false", - "perception/enable_traffic_light:=" + - std::string((architecture_type >= "awf/universe/20230906") ? "true" : "false"), - "use_sim_time:=" + - std::string( - getParameter(node_parameters, "use_sim_time", false) ? "true" : "false")) + getParameter(node_parameters, "autoware_launch_file"), parameters) : std::make_unique< concealer::FieldOperatorApplicationFor>(); } else { 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 33c5161e927..edcda777f00 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 @@ -31,6 +31,8 @@ from scenario_test_runner.shutdown_once import ShutdownOnce +import re + def architecture_types(): return ["awf/universe", "awf/universe/20230906"] @@ -131,7 +133,21 @@ def make_parameters(): {"sigterm_timeout": sigterm_timeout}, {"vehicle_model": vehicle_model}, ] + parameters += make_vehicle_parameters() + + list_of_string = [] + + pattern = re.compile("[Aa]utoware\..*") + + for each in context.launch_configurations.items(): + if (pattern.match(each[0])): + list_of_string.append(each[0][9:] + ":=" + each[1]) + + parameters += [ + {"autoware.": list_of_string} + ] + return parameters def make_vehicle_parameters(): From 9b180d2ee4cbb6df4c0dbab91153b819f7f3d885 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 3 Sep 2024 10:51:07 +0200 Subject: [PATCH 213/304] updates after merge --- .../test/src/polygon/test_line_segment.cpp | 140 +++++++++--------- 1 file changed, 70 insertions(+), 70 deletions(-) diff --git a/common/math/geometry/test/src/polygon/test_line_segment.cpp b/common/math/geometry/test/src/polygon/test_line_segment.cpp index eac5222db07..354e9d71584 100644 --- a/common/math/geometry/test/src/polygon/test_line_segment.cpp +++ b/common/math/geometry/test/src/polygon/test_line_segment.cpp @@ -77,7 +77,7 @@ TEST(LineSegment, getPoint_outOfBounds_denormalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); - ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + ASSERT_DOUBLE_EQ(line.length, 6.0); EXPECT_THROW(line.getPoint(7.0, true), common::SimulationError); EXPECT_THROW(line.getPoint(-1.0, true), common::SimulationError); @@ -90,7 +90,7 @@ TEST(LineSegment, getPoint_outOfBounds_normalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); - ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + ASSERT_DOUBLE_EQ(line.length, 6.0); EXPECT_THROW(line.getPoint(1.1, false), common::SimulationError); EXPECT_THROW(line.getPoint(-0.1, false), common::SimulationError); @@ -103,7 +103,7 @@ TEST(LineSegment, getPoint_inside_denormalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); - ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + ASSERT_DOUBLE_EQ(line.length, 6.0); EXPECT_POINT_EQ(line.getPoint(0.0, true), makePoint(-1.0, -2.0, 1.0)); EXPECT_POINT_EQ(line.getPoint(3.0, true), makePoint(1.0, 0.0, 0.0)); @@ -117,7 +117,7 @@ TEST(LineSegment, getPoint_inside_normalized) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 1.0), makePoint(3.0, 2.0, -1.0)); - ASSERT_DOUBLE_EQ(line.getLength(), 6.0); + ASSERT_DOUBLE_EQ(line.length, 6.0); EXPECT_POINT_EQ(line.getPoint(0.0, false), makePoint(-1.0, -2.0, 1.0)); EXPECT_POINT_EQ(line.getPoint(0.5, false), makePoint(1.0, 0.0, 0.0)); @@ -132,7 +132,7 @@ TEST(LineSegment, getPose_denormalized) const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); const double length = 4.0 * std::sqrt(3.0); - ASSERT_DOUBLE_EQ(line.getLength(), length); + ASSERT_DOUBLE_EQ(line.length, length); EXPECT_POSE_EQ( line.getPose(0.0 * length, true, false), @@ -159,7 +159,7 @@ TEST(LineSegment, getPose_normalized) const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(3.0, 2.0, 4.0)); const double length = 4.0 * std::sqrt(3.0); - ASSERT_DOUBLE_EQ(line.getLength(), length); + ASSERT_DOUBLE_EQ(line.length, length); EXPECT_POSE_EQ( line.getPose(0.0, false, false), @@ -186,7 +186,7 @@ TEST(LineSegment, getPose_pitch) const auto line = math::geometry::LineSegment( makePoint(-1.0, -2.0, 0.0 * std::sqrt(2.0)), makePoint(3.0, 2.0, 4.0 * std::sqrt(2.0))); const double length = 8.0; - ASSERT_DOUBLE_EQ(line.getLength(), length); + ASSERT_DOUBLE_EQ(line.length, length); EXPECT_POSE_EQ( line.getPose(0.0 * length, true, true), @@ -301,18 +301,18 @@ TEST(LineSegment, isIntersect2D_pointOnEnd) /** * @note Test result correctness with a line intersecting with a vertical line. */ -TEST(LineSegment, getIntersection2DSValue_line_vertical) +TEST(LineSegment, get2DIntersectionSValue_line_vertical) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(-1.0, 2.0, 0.0)); { - const auto s_value = line.getIntersection2DSValue( + const auto s_value = line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 1.0, 0.0)), true); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 1.0); } { - const auto s_value = line.getIntersection2DSValue( + const auto s_value = line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 1.0, 0.0)), false); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 0.25); @@ -322,18 +322,18 @@ TEST(LineSegment, getIntersection2DSValue_line_vertical) /** * @note Test result correctness with a line intersecting with a horizontal line. */ -TEST(LineSegment, getIntersection2DSValue_line_horizontal) +TEST(LineSegment, get2DIntersectionSValue_line_horizontal) { const auto line = math::geometry::LineSegment(makePoint(-1.0, 2.0, 0.0), makePoint(1.0, 2.0, 0.0)); { - const auto s_value = line.getIntersection2DSValue( + const auto s_value = line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(-1.0, 0.0, 0.0), makePoint(1.0, 4.0, 0.0)), true); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 1.0); } { - const auto s_value = line.getIntersection2DSValue( + const auto s_value = line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(-1.0, 0.0, 0.0), makePoint(1.0, 4.0, 0.0)), false); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 0.5); @@ -343,18 +343,18 @@ TEST(LineSegment, getIntersection2DSValue_line_horizontal) /** * @note Test result correctness with lines intersecting at the start and end of a line. */ -TEST(LineSegment, getIntersection2DSValue_line_bounds) +TEST(LineSegment, get2DIntersectionSValue_line_bounds) { const auto line = math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); { - const auto s_value = line.getIntersection2DSValue( + const auto s_value = line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(-2.0, 2.0, 0.0), makePoint(0.0, 0.0, 0.0)), false); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 0.0); } { - const auto s_value = line.getIntersection2DSValue( + const auto s_value = line.get2DIntersectionSValue( math::geometry::LineSegment(makePoint(1.0, 3.0, 0.0), makePoint(2.0, 2.0, 0.0)), false); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 1.0); @@ -364,20 +364,20 @@ TEST(LineSegment, getIntersection2DSValue_line_bounds) /** * @note Test result correctness with a line outside of the line. */ -TEST(LineSegment, getIntersection2DSValue_line_outside) +TEST(LineSegment, get2DIntersectionSValue_line_outside) { const auto line = math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); EXPECT_FALSE( line - .getIntersection2DSValue( + .get2DIntersectionSValue( math::geometry::LineSegment(makePoint(-2.0, 1.0, 0.0), makePoint(0.0, 0.0, 0.0)), false) .has_value()); EXPECT_FALSE( line - .getIntersection2DSValue( + .get2DIntersectionSValue( math::geometry::LineSegment(makePoint(1.0, 4.0, 0.0), makePoint(2.0, 2.0, 0.0)), false) .has_value()); } @@ -385,16 +385,16 @@ TEST(LineSegment, getIntersection2DSValue_line_outside) /** * @note Test result correctness when lines are collinear. */ -TEST(LineSegment, getIntersection2DSValue_line_collinear) +TEST(LineSegment, get2DIntersectionSValue_line_collinear) { const auto line = math::geometry::LineSegment(makePoint(-1.0, 1.0, 0.0), makePoint(1.0, 3.0, 0.0)); - EXPECT_THROW(line.getIntersection2DSValue(line, false), common::SimulationError); + EXPECT_THROW(line.get2DIntersectionSValue(line, false), common::SimulationError); EXPECT_FALSE( line - .getIntersection2DSValue( + .get2DIntersectionSValue( math::geometry::LineSegment(makePoint(3.0, 5.0, 0.0), makePoint(5.0, 7.0, 0.0)), false) .has_value()); } @@ -402,116 +402,116 @@ TEST(LineSegment, getIntersection2DSValue_line_collinear) /** * @note Test result correctness with a point inside a vertical line. */ -TEST(LineSegment, getIntersection2DSValue_point_vertical) +TEST(LineSegment, get2DIntersectionSValue_point_vertical) { const auto line = math::geometry::LineSegment(makePoint(-1.0, -2.0, 0.0), makePoint(-1.0, 2.0, 0.0)); { - const auto s_value = line.getIntersection2DSValue(makePoint(-1.0, 0.0, 0.0), true); + const auto s_value = line.get2DIntersectionSValue(makePoint(-1.0, 0.0, 0.0), true); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 2.0); } { - const auto s_value = line.getIntersection2DSValue(makePoint(-1.0, 0.0, 0.0), false); + const auto s_value = line.get2DIntersectionSValue(makePoint(-1.0, 0.0, 0.0), false); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 0.5); } { - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-101.0, 0.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(103.0, 0.0, 0.0), false).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-1.0, -107.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-1.0, 109.0, 0.0), false).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-101.0, 0.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(103.0, 0.0, 0.0), false).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-1.0, -107.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-1.0, 109.0, 0.0), false).has_value()); } } /** * @note Test result correctness with a point inside a horizontal line. */ -TEST(LineSegment, getIntersection2DSValue_point_horizontal) +TEST(LineSegment, get2DIntersectionSValue_point_horizontal) { const auto line = math::geometry::LineSegment(makePoint(-1.0, 2.0, 0.0), makePoint(1.0, 2.0, 0.0)); { - const auto s_value = line.getIntersection2DSValue(makePoint(0.0, 2.0, 0.0), true); + const auto s_value = line.get2DIntersectionSValue(makePoint(0.0, 2.0, 0.0), true); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 1.0); } { - const auto s_value = line.getIntersection2DSValue(makePoint(0.0, 2.0, 0.0), false); + const auto s_value = line.get2DIntersectionSValue(makePoint(0.0, 2.0, 0.0), false); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 0.5); } { - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-113.0, 2.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(127.0, 2.0, 0.0), false).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(0.0, -131.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(0.0, 137.0, 0.0), false).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-113.0, 2.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(127.0, 2.0, 0.0), false).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(0.0, -131.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(0.0, 137.0, 0.0), false).has_value()); } } /** * @note Test result correctness with points at the start and end of a line. */ -TEST(LineSegment, getIntersection2DSValue_point_bounds) +TEST(LineSegment, get2DIntersectionSValue_point_bounds) { const auto line = math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 4.0, 0.0)); { - const auto s_value = line.getIntersection2DSValue(makePoint(-2.0, -2.0, 0.0), true); + const auto s_value = line.get2DIntersectionSValue(makePoint(-2.0, -2.0, 0.0), true); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 0.0); } { - const auto s_value = line.getIntersection2DSValue(makePoint(-2.0, -2.0, 0.0), false); + const auto s_value = line.get2DIntersectionSValue(makePoint(-2.0, -2.0, 0.0), false); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 0.0); } { - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-139.0, -2.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(149.0, -2.0, 0.0), false).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-139.0, -2.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(149.0, -2.0, 0.0), false).has_value()); } { - const auto s_value = line.getIntersection2DSValue(makePoint(1.0, 4.0, 0.0), true); + const auto s_value = line.get2DIntersectionSValue(makePoint(1.0, 4.0, 0.0), true); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 3.0 * std::sqrt(5)); } { - const auto s_value = line.getIntersection2DSValue(makePoint(1.0, 4.0, 0.0), false); + const auto s_value = line.get2DIntersectionSValue(makePoint(1.0, 4.0, 0.0), false); ASSERT_TRUE(s_value.has_value()); EXPECT_DOUBLE_EQ(s_value.value(), 1.0); } { - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-151.0, 4.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(157.0, 4.0, 0.0), false).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-151.0, 4.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(157.0, 4.0, 0.0), false).has_value()); } } /** * @note Test result correctness with a point outside of the line. */ -TEST(LineSegment, getIntersection2DSValue_point_outside) +TEST(LineSegment, get2DIntersectionSValue_point_outside) { const auto line = math::geometry::LineSegment(makePoint(-2.0, -2.0, 0.0), makePoint(1.0, 4.0, 0.0)); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-3.0, 1.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-1.0, 1.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(0.0, 1.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(2.0, 1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-3.0, 1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-1.0, 1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(0.0, 1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(2.0, 1.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, -5.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, -1.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, 3.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-0.5, 7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-0.5, -5.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-0.5, -1.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-0.5, 3.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-0.5, 7.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(7.0, 7.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(7.0, -7.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-7.0, 7.0, 0.0), true).has_value()); - EXPECT_FALSE(line.getIntersection2DSValue(makePoint(-7.0, -7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(7.0, 7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(7.0, -7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-7.0, 7.0, 0.0), true).has_value()); + EXPECT_FALSE(line.get2DIntersectionSValue(makePoint(-7.0, -7.0, 0.0), true).has_value()); } TEST(LineSegment, getIntersection2DDisjoint) @@ -607,13 +607,13 @@ TEST(LineSegment, getSValue_parallelDenormalize) 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) @@ -631,49 +631,49 @@ 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) From 4f7fa88e5d4ea45c44277a1de8b6feed85d73dbb Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 29 Aug 2024 11:38:10 +0200 Subject: [PATCH 214/304] longitudinal distance tests --- .../traffic_simulator/test/CMakeLists.txt | 9 +- .../test/src/utils/CMakeLists.txt | 2 + .../test/src/utils/test_distance.cpp | 329 ++++++++++++++++++ 3 files changed, 336 insertions(+), 4 deletions(-) create mode 100644 simulation/traffic_simulator/test/src/utils/CMakeLists.txt create mode 100644 simulation/traffic_simulator/test/src/utils/test_distance.cpp diff --git a/simulation/traffic_simulator/test/CMakeLists.txt b/simulation/traffic_simulator/test/CMakeLists.txt index 713c8b40678..f60dfacda88 100644 --- a/simulation/traffic_simulator/test/CMakeLists.txt +++ b/simulation/traffic_simulator/test/CMakeLists.txt @@ -1,7 +1,8 @@ -add_subdirectory(src/traffic_lights) -add_subdirectory(src/helper) -add_subdirectory(src/entity) add_subdirectory(src/behavior) +add_subdirectory(src/entity) +add_subdirectory(src/hdmap_utils) +add_subdirectory(src/helper) add_subdirectory(src/job) add_subdirectory(src/simulation_clock) -add_subdirectory(src/hdmap_utils) +add_subdirectory(src/traffic_lights) +add_subdirectory(src/utils) diff --git a/simulation/traffic_simulator/test/src/utils/CMakeLists.txt b/simulation/traffic_simulator/test/src/utils/CMakeLists.txt new file mode 100644 index 00000000000..29fb6b608ab --- /dev/null +++ b/simulation/traffic_simulator/test/src/utils/CMakeLists.txt @@ -0,0 +1,2 @@ +ament_add_gtest(test_distance test_distance.cpp) +target_link_libraries(test_distance traffic_simulator) diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp new file mode 100644 index 00000000000..7fb03b977c7 --- /dev/null +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -0,0 +1,329 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include +#include +#include +#include +#include + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is impossible to calculate the distance, e.g. not connected lanelets + * and with allow_lane_change = false. + */ +TEST(distance, lateralDistance_impossible_noChange) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); + { + const auto result = traffic_simulator::distance::lateralDistance( + pose_from, pose_to, std::numeric_limits::infinity(), false, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, false, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is possible to calculate the distance + * and with allow_lane_change = false. + */ +TEST(distance, lateralDistance_possible_noChange) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(201L, 0.0, 0.0, hdmap_utils_ptr); + { + const auto result = traffic_simulator::distance::lateralDistance( + pose_from, pose_to, std::numeric_limits::infinity(), false, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), 0.0, std::numeric_limits::epsilon()); + } + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, false, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), 0.0, std::numeric_limits::epsilon()); + } +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is impossible to calculate the distance, e.g. not connected lanelets + * and with allow_lane_change = true. + */ +TEST(distance, lateralDistance_impossible_change) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + { + const auto result = traffic_simulator::distance::lateralDistance( + pose_from, pose_to, std::numeric_limits::infinity(), true, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, true, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is possible to calculate the distance + * and with allow_lane_change = true. + */ +TEST(distance, lateralDistance_possible_change) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); + constexpr double approx_distance = -3.0; + constexpr double tolerance = 0.5; + { + const auto result = traffic_simulator::distance::lateralDistance( + pose_from, pose_to, std::numeric_limits::infinity(), true, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, true, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is possible to calculate the distance, but matching_distance is too small. + */ +TEST(distance, lateralDistance_impossible_matching) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, 2.0, true, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test if the function correctly uses getLateralDistance. Test with a scenario + * in which it is possible to calculate the distance and matching_distance is large. + */ +TEST(distance, lateralDistance_possible_matching) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( + 3002184L, 0.0, 0.0, hdmap_utils_ptr); + const auto pose_to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); + constexpr double approx_distance = -3.0; + constexpr double tolerance = 0.5; + { + const auto result = + traffic_simulator::distance::lateralDistance(pose_from, pose_to, 3.0, true, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } +} + +constexpr auto convertDegToRad(const double deg) -> double { return deg / 180.0 * M_PI; } +constexpr auto convertRadToDeg(const double rad) -> double { return rad * 180.0 / M_PI; } + +auto makePose(const double x, const double y, const double yaw_deg) -> geometry_msgs::msg::Pose +{ + /** + * @note +x axis is 0 degrees; +y axis is 90 degrees + */ + return geometry_msgs::build() + .position(geometry_msgs::build().x(x).y(y).z(0.0)) + .orientation(math::geometry::convertEulerAngleToQuaternion( + geometry_msgs::build().x(0.0).y(0.0).z( + convertDegToRad(yaw_deg)))); +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = false, + * include_opposite_direction = false, allow_lane_change = false + * in an impossible scenario, e.g. no path. + */ +TEST(distance, longitudinalDistance_noAdjacent_noOpposite_noChange_false) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81595.44, 50006.09, 100.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81584.48, 50084.76, 100.0), false, hdmap_utils_ptr); + { + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, false, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = false, + * include_opposite_direction = false, allow_lane_change = false + * in a scenario that meets those criteria. + */ +TEST(distance, longitudinalDistance_noAdjacent_noOpposite_noChange) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.61836750154) + .longitude(139.78066608243) + .altitude(0.0)); + + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(3800.05, 73715.77, 30.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(3841.26, 73748.80, 110.0), false, hdmap_utils_ptr); + { + constexpr double approx_distance = 60.0; + constexpr double tolerance = 1.0; + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, false, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = true, + * include_opposite_direction = false, allow_lane_change = false + * in an impossible scenario, e.g. no path. + */ +TEST(distance, longitudinalDistance_adjacent_noOpposite_noChange_false) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81585.79, 50042.62, 100.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81588.34, 50083.23, 100.0), false, hdmap_utils_ptr); + { + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), true, false, false, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = true, + * include_opposite_direction = false, allow_lane_change = false + * in a scenario that meets those criteria. + */ +TEST(distance, longitudinalDistance_adjacent_noOpposite_noChange) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81599.02, 50065.76, 280.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81599.61, 50045.16, 280.0), false, hdmap_utils_ptr); + { + constexpr double approx_distance = 20.0; + constexpr double tolerance = 1.0; + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), true, false, false, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } +} \ No newline at end of file From 8864e27c105c27a067126eb91c4c55d8517f9266 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 3 Sep 2024 18:40:10 +0900 Subject: [PATCH 215/304] Remove data member `traffic_simulator::Configuration::rviz_config_path` Signed-off-by: yamacir-kit --- .../traffic_simulator/api/configuration.hpp | 4 ---- .../src/entity/ego_entity.cpp | 4 +--- .../launch/scenario_test_runner.launch.py | 21 +++++++++---------- 3 files changed, 11 insertions(+), 18 deletions(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/api/configuration.hpp b/simulation/traffic_simulator/include/traffic_simulator/api/configuration.hpp index 3e17d2f5873..47577f79cea 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/api/configuration.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/api/configuration.hpp @@ -65,10 +65,6 @@ struct Configuration Pathname scenario_path = ""; - Pathname rviz_config_path = // - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/config/scenario_simulator_v2.rviz"; - explicit Configuration(const Pathname & map_path) // : map_path(assertMapPath(map_path)), lanelet2_map_file(findLexicographicallyFirstFilenameOf(map_path, ".osm")), diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index d58f31ae94e..91ebc94c2fd 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -41,8 +41,6 @@ auto EgoEntity::makeFieldOperatorApplication( if (const auto architecture_type = getParameter(node_parameters, "architecture_type", "awf/universe"); architecture_type.find("awf/universe") != std::string::npos) { - const auto rviz_config = getParameter(node_parameters, "rviz_config", ""); - auto parameters = getParameter>(node_parameters, "autoware.", {}); // clang-format off @@ -51,7 +49,7 @@ auto EgoEntity::makeFieldOperatorApplication( parameters.push_back("pointcloud_map_file:=" + configuration.getPointCloudMapFile()); parameters.push_back("sensor_model:=" + getParameter(node_parameters, "sensor_model")); parameters.push_back("vehicle_model:=" + getParameter(node_parameters, "vehicle_model")); - parameters.push_back("rviz_config:=" + (rviz_config.empty() ? configuration.rviz_config_path.string() : rviz_config)); + parameters.push_back("rviz_config:=" + getParameter(node_parameters, "rviz_config")); parameters.push_back("scenario_simulation:=true"); parameters.push_back("use_foa:=false"); parameters.push_back("perception/enable_traffic_light:=" + std::string((architecture_type >= "awf/universe/20230906") ? "true" : "false")); 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 edcda777f00..009a8d4d5d5 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 @@ -60,6 +60,10 @@ def default_autoware_launch_file_of(architecture_type): }[architecture_type] +def default_rviz_config_file(): + return Path(get_package_share_directory("traffic_simulator")) / "config/scenario_simulator_v2.rviz" + + def launch_setup(context, *args, **kwargs): # fmt: off architecture_type = LaunchConfiguration("architecture_type", default="awf/universe/20230906") @@ -79,7 +83,7 @@ def launch_setup(context, *args, **kwargs): port = LaunchConfiguration("port", default=5555) publish_empty_context = LaunchConfiguration("publish_empty_context", default=False) record = LaunchConfiguration("record", default=True) - rviz_config = LaunchConfiguration("rviz_config", default="") + rviz_config = LaunchConfiguration("rviz_config", default=default_rviz_config_file()) scenario = LaunchConfiguration("scenario", default=Path("/dev/null")) sensor_model = LaunchConfiguration("sensor_model", default="") sigterm_timeout = LaunchConfiguration("sigterm_timeout", default=8) @@ -144,9 +148,10 @@ def make_parameters(): if (pattern.match(each[0])): list_of_string.append(each[0][9:] + ":=" + each[1]) - parameters += [ - {"autoware.": list_of_string} - ] + if list_of_string != []: + parameters += [ + {"autoware.": list_of_string} + ] return parameters @@ -245,13 +250,7 @@ def description(): name="rviz2", output={"stderr": "log", "stdout": "log"}, condition=IfCondition(launch_rviz), - arguments=[ - "-d", - str( - Path(get_package_share_directory("traffic_simulator")) - / "config/scenario_simulator_v2.rviz" - ), - ], + arguments=["-d", str(default_rviz_config_file())], ), ] From 6971ebdf08a9d3380261e75259e620378fc05cc5 Mon Sep 17 00:00:00 2001 From: robomic Date: Tue, 3 Sep 2024 16:14:35 +0200 Subject: [PATCH 216/304] distance tests skeleton, add intersection map and move standard map to its folder --- .../test/map/inctersection/lanelet2_map.osm | 15432 ++++++++++++++++ .../map/{ => standard_map}/lanelet2_map.osm | 0 .../test/src/hdmap_utils/test_hdmap_utils.cpp | 6 +- .../test/src/helper_functions.hpp | 3 +- .../src/traffic_lights/test_traffic_light.cpp | 3 +- .../test_traffic_light_manager.cpp | 3 +- .../test/src/utils/test_distance.cpp | 122 +- 7 files changed, 15562 insertions(+), 7 deletions(-) create mode 100644 simulation/traffic_simulator/test/map/inctersection/lanelet2_map.osm rename simulation/traffic_simulator/test/map/{ => standard_map}/lanelet2_map.osm (100%) diff --git a/simulation/traffic_simulator/test/map/inctersection/lanelet2_map.osm b/simulation/traffic_simulator/test/map/inctersection/lanelet2_map.osm new file mode 100644 index 00000000000..3a239c64159 --- /dev/null +++ b/simulation/traffic_simulator/test/map/inctersection/lanelet2_map.osm @@ -0,0 +1,15432 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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diff --git a/simulation/traffic_simulator/test/map/lanelet2_map.osm b/simulation/traffic_simulator/test/map/standard_map/lanelet2_map.osm similarity index 100% rename from simulation/traffic_simulator/test/map/lanelet2_map.osm rename to simulation/traffic_simulator/test/map/standard_map/lanelet2_map.osm diff --git a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp index 93512bda08d..b0bd92f0569 100644 --- a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp +++ b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp @@ -35,7 +35,8 @@ class HdMapUtilsTest_StandardMap : public testing::Test protected: HdMapUtilsTest_StandardMap() : hdmap_utils(hdmap_utils::HdMapUtils( - ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/standard_map/lanelet2_map.osm", geographic_msgs::build() .latitude(35.61836750154) .longitude(139.78066608243) @@ -132,7 +133,8 @@ TEST(HdMapUtils, Construct) { ASSERT_NO_THROW( auto hdmap_utils = hdmap_utils::HdMapUtils( - ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/standard_map/lanelet2_map.osm", geographic_msgs::build() .latitude(35.61836750154) .longitude(139.78066608243) diff --git a/simulation/traffic_simulator/test/src/helper_functions.hpp b/simulation/traffic_simulator/test/src/helper_functions.hpp index ba5f24b86c6..ff0cb7248cc 100644 --- a/simulation/traffic_simulator/test/src/helper_functions.hpp +++ b/simulation/traffic_simulator/test/src/helper_functions.hpp @@ -63,7 +63,8 @@ auto makePose( auto makeHdMapUtilsSharedPointer() -> std::shared_ptr { return std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/standard_map/lanelet2_map.osm", geographic_msgs::build() .latitude(35.9037067912303) .longitude(139.9337945139059) diff --git a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp index 6ab5ba9c6f9..55ac100b94f 100644 --- a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp +++ b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light.cpp @@ -714,7 +714,8 @@ class TrafficLightTest : public testing::Test protected: TrafficLightTest() : map_manager( - ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/standard_map/lanelet2_map.osm", geographic_msgs::build() .latitude(35.61836750154) .longitude(139.78066608243) diff --git a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp index f5b58616f44..3593b18f50b 100644 --- a/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp +++ b/simulation/traffic_simulator/test/src/traffic_lights/test_traffic_light_manager.cpp @@ -23,7 +23,8 @@ class TrafficLightManagerTest : public testing::Test protected: TrafficLightManagerTest() : manager(std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/standard_map/lanelet2_map.osm", geographic_msgs::build() .latitude(35.61836750154) .longitude(139.78066608243) diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp index 7fb03b977c7..249e556be03 100644 --- a/simulation/traffic_simulator/test/src/utils/test_distance.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -253,7 +253,8 @@ TEST(distance, longitudinalDistance_noAdjacent_noOpposite_noChange_false) TEST(distance, longitudinalDistance_noAdjacent_noOpposite_noChange) { auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm", + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/standard_map/lanelet2_map.osm", geographic_msgs::build() .latitude(35.61836750154) .longitude(139.78066608243) @@ -326,4 +327,121 @@ TEST(distance, longitudinalDistance_adjacent_noOpposite_noChange) ASSERT_TRUE(result.has_value()); EXPECT_NEAR(result.value(), approx_distance, tolerance); } -} \ No newline at end of file +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = false, + * include_opposite_direction = false, allow_lane_change = true + * in an impossible scenario, e.g. no path. + */ +TEST(distance, longitudinalDistance_noAdjacent_noOpposite_change_false) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81595.47, 49982.80, 100.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81599.34, 50022.34, 100.0), false, hdmap_utils_ptr); + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81612.35, 50015.63, 280.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81612.95, 49991.30, 280.0), false, hdmap_utils_ptr); + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = false, + * include_opposite_direction = false, allow_lane_change = true + * in a scenario that meets those criteria. + */ +TEST(distance, longitudinalDistance_noAdjacent_noOpposite_change) +{ + auto hdmap_utils_ptr = std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0)); + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81592.96, 49997.94, 100.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81570.56, 50141.75, 100.0), false, hdmap_utils_ptr); + constexpr double approx_distance = 145.0; + constexpr double tolerance = 1.0; + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81587.31, 50165.57, 100.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81610.25, 49988.59, 100.0), false, hdmap_utils_ptr); + constexpr double approx_distance = 178.0; + constexpr double tolerance = 1.0; + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), approx_distance, tolerance); + } +} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = true, + * include_opposite_direction = false, allow_lane_change = true + * in an impossible scenario, e.g. no path. + */ +TEST(distance, longitudinalDistance_adjacent_noOpposite_change_false) {} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = true, + * include_opposite_direction = false, allow_lane_change = true + * in a scenario that meets those criteria. + */ +TEST(distance, longitudinalDistance_adjacent_noOpposite_change) {} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = true, + * include_opposite_direction = true, allow_lane_change = false + * in an impossible scenario, e.g. no path. + */ +TEST(distance, longitudinalDistance_adjacent_opposite_noChange_false) {} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = true, + * include_opposite_direction = true, allow_lane_change = false + * in a scenario that meets those criteria. + */ +TEST(distance, longitudinalDistance_adjacent_opposite_noChange) {} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = true, + * include_opposite_direction = true, allow_lane_change = true + * in an impossible scenario, e.g. no path. + */ +TEST(distance, longitudinalDistance_adjacent_opposite_change_false) {} + +/** + * @note Test calculation correctness with include_adjacent_lanelet = true, + * include_opposite_direction = true, allow_lane_change = true + * in a scenario that meets those criteria. + */ +TEST(distance, longitudinalDistance_adjacent_opposite_change) {} From 04373bd451c00ff6a8468ae486dec5423fb5e890 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 4 Sep 2024 13:16:51 +0900 Subject: [PATCH 217/304] Simplify collection of `autoware.` prefixed parameters Signed-off-by: yamacir-kit --- .../launch/scenario_test_runner.launch.py | 16 ++-------------- 1 file changed, 2 insertions(+), 14 deletions(-) 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 009a8d4d5d5..af3702a0d9b 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 @@ -31,8 +31,6 @@ from scenario_test_runner.shutdown_once import ShutdownOnce -import re - def architecture_types(): return ["awf/universe", "awf/universe/20230906"] @@ -140,18 +138,8 @@ def make_parameters(): parameters += make_vehicle_parameters() - list_of_string = [] - - pattern = re.compile("[Aa]utoware\..*") - - for each in context.launch_configurations.items(): - if (pattern.match(each[0])): - list_of_string.append(each[0][9:] + ":=" + each[1]) - - if list_of_string != []: - parameters += [ - {"autoware.": list_of_string} - ] + if (it := [item[0][9:] + ':=' + item[1] for item in context.launch_configurations.items() if item[0][:9] == 'autoware.']) != []: + parameters += [{"autoware.": it}] return parameters From fb3ba4b61d075078716cdb521ef333900d776772 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 4 Sep 2024 16:32:59 +0900 Subject: [PATCH 218/304] Move parameter `use_sim_time` into function `make_parameters` Signed-off-by: yamacir-kit --- simulation/traffic_simulator/src/entity/ego_entity.cpp | 6 ++++-- .../launch/scenario_test_runner.launch.py | 10 +++++++--- 2 files changed, 11 insertions(+), 5 deletions(-) diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index 91ebc94c2fd..4deb4f97110 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -41,6 +41,8 @@ auto EgoEntity::makeFieldOperatorApplication( if (const auto architecture_type = getParameter(node_parameters, "architecture_type", "awf/universe"); architecture_type.find("awf/universe") != std::string::npos) { + auto boolalpha = [](bool value) { return std::string(value ? "true" : "false"); }; + auto parameters = getParameter>(node_parameters, "autoware.", {}); // clang-format off @@ -52,8 +54,8 @@ auto EgoEntity::makeFieldOperatorApplication( parameters.push_back("rviz_config:=" + getParameter(node_parameters, "rviz_config")); parameters.push_back("scenario_simulation:=true"); parameters.push_back("use_foa:=false"); - parameters.push_back("perception/enable_traffic_light:=" + std::string((architecture_type >= "awf/universe/20230906") ? "true" : "false")); - parameters.push_back("use_sim_time:=" + std::string(getParameter(node_parameters, "use_sim_time", false) ? "true" : "false")); + parameters.push_back("perception/enable_traffic_light:=" + boolalpha(architecture_type >= "awf/universe/20230906")); + parameters.push_back("use_sim_time:=" + boolalpha(getParameter(node_parameters, "use_sim_time", false))); // clang-format on return getParameter(node_parameters, "launch_autoware", true) 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 af3702a0d9b..8513fab9b1e 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 @@ -133,12 +133,16 @@ def make_parameters(): {"rviz_config": rviz_config}, {"sensor_model": sensor_model}, {"sigterm_timeout": sigterm_timeout}, + {"use_sim_time": use_sim_time}, {"vehicle_model": vehicle_model}, ] parameters += make_vehicle_parameters() - if (it := [item[0][9:] + ':=' + item[1] for item in context.launch_configurations.items() if item[0][:9] == 'autoware.']) != []: + def make_prefixed_parameters(): + return [item[0][9:] + ':=' + item[1] for item in context.launch_configurations.items() if item[0][:9] == 'autoware.'] + + if (it := make_prefixed_parameters()) != []: parameters += [{"autoware.": it}] return parameters @@ -201,7 +205,7 @@ def description(): namespace="simulation", output="screen", on_exit=ShutdownOnce(), - parameters=make_parameters() + [{"use_sim_time": use_sim_time}], + parameters=make_parameters(), condition=IfCondition(launch_simple_sensor_simulator), ), # The `name` keyword overrides the name for all created nodes, so duplicated nodes appear. @@ -214,7 +218,7 @@ def description(): executable="openscenario_interpreter_node", namespace="simulation", output="screen", - parameters=[{"use_sim_time": use_sim_time}]+make_parameters(), + parameters=make_parameters(), prefix=make_launch_prefix(), on_exit=ShutdownOnce(), ), From 640b00a85aaeb1ea017e93a1750bcdcd38e798d4 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 4 Sep 2024 17:28:59 +0900 Subject: [PATCH 219/304] Move function `make_vehicle_parameters` into function `make_parameters` Signed-off-by: yamacir-kit --- .../launch/scenario_test_runner.launch.py | 32 +++++++++---------- 1 file changed, 15 insertions(+), 17 deletions(-) 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 8513fab9b1e..6ebccaa9c89 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 @@ -137,29 +137,27 @@ def make_parameters(): {"vehicle_model": vehicle_model}, ] - parameters += make_vehicle_parameters() - - def make_prefixed_parameters(): + def collect_vehicle_parameters(): + if vehicle_model_name := vehicle_model.perform(context): + description = get_package_share_directory(vehicle_model_name + "_description") + return [ + description + "/config/vehicle_info.param.yaml", + description + "/config/simulator_model.param.yaml", + ] + else: + return [] + + if (it := collect_vehicle_parameters()) != []: + parameters += it + + def collect_prefixed_parameters(): return [item[0][9:] + ':=' + item[1] for item in context.launch_configurations.items() if item[0][:9] == 'autoware.'] - if (it := make_prefixed_parameters()) != []: + if (it := collect_prefixed_parameters()) != []: parameters += [{"autoware.": it}] return parameters - def make_vehicle_parameters(): - parameters = [] - - def description(): - return get_package_share_directory( - vehicle_model.perform(context) + "_description" - ) - - if vehicle_model.perform(context): - parameters.append(description() + "/config/vehicle_info.param.yaml") - parameters.append(description() + "/config/simulator_model.param.yaml") - return parameters - return [ # fmt: off DeclareLaunchArgument("architecture_type", default_value=architecture_type ), From 3caf5303159dc1ee2b906b79f45ed40a928d28b1 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Wed, 4 Sep 2024 18:04:46 +0900 Subject: [PATCH 220/304] Cleanup Signed-off-by: yamacir-kit --- .../include/traffic_simulator/api/configuration.hpp | 1 - simulation/traffic_simulator/src/entity/ego_entity.cpp | 6 ++---- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/api/configuration.hpp b/simulation/traffic_simulator/include/traffic_simulator/api/configuration.hpp index 47577f79cea..155fab255b9 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/api/configuration.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/api/configuration.hpp @@ -16,7 +16,6 @@ #define TRAFFIC_SIMULATOR__API__CONFIGURATION_HPP_ #include -#include #include #include #include diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index 4deb4f97110..7ba999c60b1 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -41,8 +41,6 @@ auto EgoEntity::makeFieldOperatorApplication( if (const auto architecture_type = getParameter(node_parameters, "architecture_type", "awf/universe"); architecture_type.find("awf/universe") != std::string::npos) { - auto boolalpha = [](bool value) { return std::string(value ? "true" : "false"); }; - auto parameters = getParameter>(node_parameters, "autoware.", {}); // clang-format off @@ -54,8 +52,8 @@ auto EgoEntity::makeFieldOperatorApplication( parameters.push_back("rviz_config:=" + getParameter(node_parameters, "rviz_config")); parameters.push_back("scenario_simulation:=true"); parameters.push_back("use_foa:=false"); - parameters.push_back("perception/enable_traffic_light:=" + boolalpha(architecture_type >= "awf/universe/20230906")); - parameters.push_back("use_sim_time:=" + boolalpha(getParameter(node_parameters, "use_sim_time", false))); + parameters.push_back("perception/enable_traffic_light:=" + std::string(architecture_type >= "awf/universe/20230906" ? "true" : "false")); + parameters.push_back("use_sim_time:=" + std::string(getParameter(node_parameters, "use_sim_time", false) ? "true" : "false")); // clang-format on return getParameter(node_parameters, "launch_autoware", true) From 851a696e7551e68e86802d70d9ad2060d8ebf9a2 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 5 Sep 2024 11:34:02 +0200 Subject: [PATCH 221/304] clean-up; test_fixture --- .../lanelet2_map.osm | 0 .../test/src/utils/test_distance.cpp | 369 ++++++++++-------- 2 files changed, 212 insertions(+), 157 deletions(-) rename simulation/traffic_simulator/test/map/{inctersection => intersection}/lanelet2_map.osm (100%) diff --git a/simulation/traffic_simulator/test/map/inctersection/lanelet2_map.osm b/simulation/traffic_simulator/test/map/intersection/lanelet2_map.osm similarity index 100% rename from simulation/traffic_simulator/test/map/inctersection/lanelet2_map.osm rename to simulation/traffic_simulator/test/map/intersection/lanelet2_map.osm diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp index 249e556be03..3295392590b 100644 --- a/simulation/traffic_simulator/test/src/utils/test_distance.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -27,20 +27,61 @@ int main(int argc, char ** argv) return RUN_ALL_TESTS(); } +class distanceTest_FourTrackHighway : public testing::Test +{ +protected: + distanceTest_FourTrackHighway() + : hdmap_utils_ptr(std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0))) + { + } + std::shared_ptr hdmap_utils_ptr; +}; + +class distanceTest_StandardMap : public testing::Test +{ +protected: + distanceTest_StandardMap() + : hdmap_utils_ptr(std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/standard_map/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.61836750154) + .longitude(139.78066608243) + .altitude(0.0))) + { + } + std::shared_ptr hdmap_utils_ptr; +}; + +class distanceTest_Intersection : public testing::Test +{ +protected: + distanceTest_Intersection() + : hdmap_utils_ptr(std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/intersection/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.64200728302) + .longitude(139.74821144562) + .altitude(0.0))) + { + } + std::shared_ptr hdmap_utils_ptr; +}; + /** * @note Test if the function correctly uses getLateralDistance. Test with a scenario * in which it is impossible to calculate the distance, e.g. not connected lanelets * and with allow_lane_change = false. */ -TEST(distance, lateralDistance_impossible_noChange) +TEST_F(distanceTest_FourTrackHighway, lateralDistance_impossible_noChange) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( 3002184L, 0.0, 0.0, hdmap_utils_ptr); const auto pose_to = @@ -62,15 +103,8 @@ TEST(distance, lateralDistance_impossible_noChange) * in which it is possible to calculate the distance * and with allow_lane_change = false. */ -TEST(distance, lateralDistance_possible_noChange) +TEST_F(distanceTest_FourTrackHighway, lateralDistance_possible_noChange) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( 3002184L, 0.0, 0.0, hdmap_utils_ptr); const auto pose_to = @@ -94,15 +128,8 @@ TEST(distance, lateralDistance_possible_noChange) * in which it is impossible to calculate the distance, e.g. not connected lanelets * and with allow_lane_change = true. */ -TEST(distance, lateralDistance_impossible_change) +TEST_F(distanceTest_FourTrackHighway, lateralDistance_impossible_change) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); const auto pose_to = traffic_simulator::helper::constructCanonicalizedLaneletPose( @@ -124,15 +151,8 @@ TEST(distance, lateralDistance_impossible_change) * in which it is possible to calculate the distance * and with allow_lane_change = true. */ -TEST(distance, lateralDistance_possible_change) +TEST_F(distanceTest_FourTrackHighway, lateralDistance_possible_change) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( 3002184L, 0.0, 0.0, hdmap_utils_ptr); const auto pose_to = @@ -157,15 +177,8 @@ TEST(distance, lateralDistance_possible_change) * @note Test if the function correctly uses getLateralDistance. Test with a scenario * in which it is possible to calculate the distance, but matching_distance is too small. */ -TEST(distance, lateralDistance_impossible_matching) +TEST_F(distanceTest_FourTrackHighway, lateralDistance_impossible_matching) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); const auto pose_to = traffic_simulator::helper::constructCanonicalizedLaneletPose( @@ -181,26 +194,18 @@ TEST(distance, lateralDistance_impossible_matching) * @note Test if the function correctly uses getLateralDistance. Test with a scenario * in which it is possible to calculate the distance and matching_distance is large. */ -TEST(distance, lateralDistance_possible_matching) +TEST_F(distanceTest_FourTrackHighway, lateralDistance_possible_matching) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); const auto pose_from = traffic_simulator::helper::constructCanonicalizedLaneletPose( 3002184L, 0.0, 0.0, hdmap_utils_ptr); const auto pose_to = traffic_simulator::helper::constructCanonicalizedLaneletPose(202L, 0.0, 0.0, hdmap_utils_ptr); - constexpr double approx_distance = -3.0; - constexpr double tolerance = 0.5; + { const auto result = traffic_simulator::distance::lateralDistance(pose_from, pose_to, 3.0, true, hdmap_utils_ptr); ASSERT_TRUE(result.has_value()); - EXPECT_NEAR(result.value(), approx_distance, tolerance); + EXPECT_NEAR(result.value(), -3.0, 0.5); } } @@ -224,21 +229,16 @@ auto makePose(const double x, const double y, const double yaw_deg) -> geometry_ * include_opposite_direction = false, allow_lane_change = false * in an impossible scenario, e.g. no path. */ -TEST(distance, longitudinalDistance_noAdjacent_noOpposite_noChange_false) +TEST_F(distanceTest_FourTrackHighway, longitudinalDistance_noAdjacent_noOpposite_noChange_false) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); - - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81595.44, 50006.09, 100.0), false, hdmap_utils_ptr); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81584.48, 50084.76, 100.0), false, hdmap_utils_ptr); { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81595.44, 50006.09, 100.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81584.48, 50084.76, 100.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto result = traffic_simulator::distance::longitudinalDistance( pose_from.value(), pose_to.value(), false, false, false, hdmap_utils_ptr); EXPECT_FALSE(result.has_value()); @@ -250,27 +250,20 @@ TEST(distance, longitudinalDistance_noAdjacent_noOpposite_noChange_false) * include_opposite_direction = false, allow_lane_change = false * in a scenario that meets those criteria. */ -TEST(distance, longitudinalDistance_noAdjacent_noOpposite_noChange) +TEST_F(distanceTest_StandardMap, longitudinalDistance_noAdjacent_noOpposite_noChange) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/standard_map/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.61836750154) - .longitude(139.78066608243) - .altitude(0.0)); - - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(3800.05, 73715.77, 30.0), false, hdmap_utils_ptr); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(3841.26, 73748.80, 110.0), false, hdmap_utils_ptr); { - constexpr double approx_distance = 60.0; - constexpr double tolerance = 1.0; + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(3800.05, 73715.77, 30.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(3841.26, 73748.80, 110.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto result = traffic_simulator::distance::longitudinalDistance( pose_from.value(), pose_to.value(), false, false, false, hdmap_utils_ptr); ASSERT_TRUE(result.has_value()); - EXPECT_NEAR(result.value(), approx_distance, tolerance); + EXPECT_NEAR(result.value(), 60.0, 1.0); } } @@ -279,21 +272,16 @@ TEST(distance, longitudinalDistance_noAdjacent_noOpposite_noChange) * include_opposite_direction = false, allow_lane_change = false * in an impossible scenario, e.g. no path. */ -TEST(distance, longitudinalDistance_adjacent_noOpposite_noChange_false) +TEST_F(distanceTest_FourTrackHighway, longitudinalDistance_adjacent_noOpposite_noChange_false) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); - - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81585.79, 50042.62, 100.0), false, hdmap_utils_ptr); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81588.34, 50083.23, 100.0), false, hdmap_utils_ptr); { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81585.79, 50042.62, 100.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81588.34, 50083.23, 100.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto result = traffic_simulator::distance::longitudinalDistance( pose_from.value(), pose_to.value(), true, false, false, hdmap_utils_ptr); EXPECT_FALSE(result.has_value()); @@ -305,27 +293,20 @@ TEST(distance, longitudinalDistance_adjacent_noOpposite_noChange_false) * include_opposite_direction = false, allow_lane_change = false * in a scenario that meets those criteria. */ -TEST(distance, longitudinalDistance_adjacent_noOpposite_noChange) +TEST_F(distanceTest_FourTrackHighway, longitudinalDistance_adjacent_noOpposite_noChange) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); - - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81599.02, 50065.76, 280.0), false, hdmap_utils_ptr); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81599.61, 50045.16, 280.0), false, hdmap_utils_ptr); { - constexpr double approx_distance = 20.0; - constexpr double tolerance = 1.0; + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81599.02, 50065.76, 280.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(81599.61, 50045.16, 280.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto result = traffic_simulator::distance::longitudinalDistance( pose_from.value(), pose_to.value(), true, false, false, hdmap_utils_ptr); ASSERT_TRUE(result.has_value()); - EXPECT_NEAR(result.value(), approx_distance, tolerance); + EXPECT_NEAR(result.value(), 20.0, 1.0); } } @@ -334,21 +315,16 @@ TEST(distance, longitudinalDistance_adjacent_noOpposite_noChange) * include_opposite_direction = false, allow_lane_change = true * in an impossible scenario, e.g. no path. */ -TEST(distance, longitudinalDistance_noAdjacent_noOpposite_change_false) +TEST_F(distanceTest_FourTrackHighway, longitudinalDistance_noAdjacent_noOpposite_change_false) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); - { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( makePose(81595.47, 49982.80, 100.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( makePose(81599.34, 50022.34, 100.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto result = traffic_simulator::distance::longitudinalDistance( pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); EXPECT_FALSE(result.has_value()); @@ -356,8 +332,11 @@ TEST(distance, longitudinalDistance_noAdjacent_noOpposite_change_false) { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( makePose(81612.35, 50015.63, 280.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( makePose(81612.95, 49991.30, 280.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto result = traffic_simulator::distance::longitudinalDistance( pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); EXPECT_FALSE(result.has_value()); @@ -369,79 +348,155 @@ TEST(distance, longitudinalDistance_noAdjacent_noOpposite_change_false) * include_opposite_direction = false, allow_lane_change = true * in a scenario that meets those criteria. */ -TEST(distance, longitudinalDistance_noAdjacent_noOpposite_change) +TEST_F(distanceTest_FourTrackHighway, longitudinalDistance_noAdjacent_noOpposite_change_case0) { - auto hdmap_utils_ptr = std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/four_track_highway/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.22312494055522) - .longitude(138.8024583466017) - .altitude(0.0)); { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( makePose(81592.96, 49997.94, 100.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( makePose(81570.56, 50141.75, 100.0), false, hdmap_utils_ptr); - constexpr double approx_distance = 145.0; - constexpr double tolerance = 1.0; + ASSERT_TRUE(pose_from.has_value()); + const auto result = traffic_simulator::distance::longitudinalDistance( pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); ASSERT_TRUE(result.has_value()); - EXPECT_NEAR(result.value(), approx_distance, tolerance); + EXPECT_NEAR(result.value(), 145.0, 1.0); } { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( makePose(81587.31, 50165.57, 100.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( makePose(81610.25, 49988.59, 100.0), false, hdmap_utils_ptr); - constexpr double approx_distance = 178.0; - constexpr double tolerance = 1.0; + ASSERT_TRUE(pose_from.has_value()); + const auto result = traffic_simulator::distance::longitudinalDistance( pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); ASSERT_TRUE(result.has_value()); - EXPECT_NEAR(result.value(), approx_distance, tolerance); + EXPECT_NEAR(result.value(), 178.0, 1.0); } } /** - * @note Test calculation correctness with include_adjacent_lanelet = true, - * include_opposite_direction = false, allow_lane_change = true - * in an impossible scenario, e.g. no path. - */ -TEST(distance, longitudinalDistance_adjacent_noOpposite_change_false) {} - -/** - * @note Test calculation correctness with include_adjacent_lanelet = true, + * @note Test calculation correctness with include_adjacent_lanelet = false, * include_opposite_direction = false, allow_lane_change = true * in a scenario that meets those criteria. */ -TEST(distance, longitudinalDistance_adjacent_noOpposite_change) {} +TEST_F(distanceTest_Intersection, longitudinalDistance_noAdjacent_noOpposite_change_case1) +{ + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86627.71, 44972.06, 340.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86647.23, 44882.51, 240.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); -/** - * @note Test calculation correctness with include_adjacent_lanelet = true, - * include_opposite_direction = true, allow_lane_change = false - * in an impossible scenario, e.g. no path. - */ -TEST(distance, longitudinalDistance_adjacent_opposite_noChange_false) {} + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + EXPECT_TRUE(result.has_value()); + } + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86555.38, 45000.88, 340.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86647.23, 44882.51, 240.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); -/** - * @note Test calculation correctness with include_adjacent_lanelet = true, - * include_opposite_direction = true, allow_lane_change = false - * in a scenario that meets those criteria. - */ -TEST(distance, longitudinalDistance_adjacent_opposite_noChange) {} + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + EXPECT_TRUE(result.has_value()); + } + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86788.82, 44993.77, 210.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86553.48, 44990.56, 150.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + EXPECT_TRUE(result.has_value()); + } + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86787.85, 44998.44, 210.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86648.95, 44884.04, 240.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + EXPECT_TRUE(result.has_value()); + } +} /** * @note Test calculation correctness with include_adjacent_lanelet = true, - * include_opposite_direction = true, allow_lane_change = true + * include_opposite_direction = false, allow_lane_change = true * in an impossible scenario, e.g. no path. */ -TEST(distance, longitudinalDistance_adjacent_opposite_change_false) {} +TEST_F(distanceTest_Intersection, longitudinalDistance_adjacent_noOpposite_change_false) +{ + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86736.13, 44969.63, 210.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86642.95, 44958.78, 340.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), true, false, true, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86732.06, 44976.58, 210.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86704.59, 44927.32, 340.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), true, false, true, hdmap_utils_ptr); + EXPECT_FALSE(result.has_value()); + } +} /** * @note Test calculation correctness with include_adjacent_lanelet = true, - * include_opposite_direction = true, allow_lane_change = true + * include_opposite_direction = false, allow_lane_change = true * in a scenario that meets those criteria. */ -TEST(distance, longitudinalDistance_adjacent_opposite_change) {} +TEST_F(distanceTest_Intersection, longitudinalDistance_adjacent_noOpposite_change) +{ + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86637.19, 44967.35, 340.0), false, hdmap_utils_ptr); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86648.82, 44886.19, 240.0), false, hdmap_utils_ptr); + + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), true, false, true, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), 103.0, 1.0); + } + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86719.94, 44957.20, 210.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86599.32, 44975.01, 180.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), true, false, true, hdmap_utils_ptr); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(result.value(), 131.0, 1.0); + } +} From 059a7c1758afd6ef95217a868bfc69da4d10ef11 Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 5 Sep 2024 11:36:46 +0200 Subject: [PATCH 222/304] remove redundant constructor call --- .../test/src/hdmap_utils/test_hdmap_utils.cpp | 25 ++++++++++--------- 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp index b0bd92f0569..26b5efaa132 100644 --- a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp +++ b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp @@ -34,13 +34,13 @@ class HdMapUtilsTest_StandardMap : public testing::Test { protected: HdMapUtilsTest_StandardMap() - : hdmap_utils(hdmap_utils::HdMapUtils( + : hdmap_utils( ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/standard_map/lanelet2_map.osm", geographic_msgs::build() .latitude(35.61836750154) .longitude(139.78066608243) - .altitude(0.0))) + .altitude(0.0)) { } @@ -50,13 +50,13 @@ class HdMapUtilsTest_WithRoadShoulderMap : public testing::Test { protected: HdMapUtilsTest_WithRoadShoulderMap() - : hdmap_utils(hdmap_utils::HdMapUtils( + : hdmap_utils( ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/with_road_shoulder/lanelet2_map.osm", geographic_msgs::build() .latitude(35.61836750154) .longitude(139.78066608243) - .altitude(0.0))) + .altitude(0.0)) { } @@ -66,13 +66,13 @@ class HdMapUtilsTest_EmptyMap : public testing::Test { protected: HdMapUtilsTest_EmptyMap() - : hdmap_utils(hdmap_utils::HdMapUtils( + : hdmap_utils( ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/empty/lanelet2_map.osm", geographic_msgs::build() .latitude(0.0) .longitude(0.0) - .altitude(0.0))) + .altitude(0.0)) { } @@ -82,13 +82,13 @@ class HdMapUtilsTest_FourTrackHighwayMap : public testing::Test { protected: HdMapUtilsTest_FourTrackHighwayMap() - : hdmap_utils(hdmap_utils::HdMapUtils( + : hdmap_utils( ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/four_track_highway/lanelet2_map.osm", geographic_msgs::build() .latitude(35.22312494055522) .longitude(138.8024583466017) - .altitude(0.0))) + .altitude(0.0)) { } @@ -98,13 +98,13 @@ class HdMapUtilsTest_CrossroadsWithStoplinesMap : public testing::Test { protected: HdMapUtilsTest_CrossroadsWithStoplinesMap() - : hdmap_utils(hdmap_utils::HdMapUtils( + : hdmap_utils( ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/crossroads_with_stoplines/lanelet2_map.osm", geographic_msgs::build() .latitude(35.23808753540768) .longitude(139.9009591876285) - .altitude(0.0))) + .altitude(0.0)) { } @@ -114,17 +114,18 @@ class HdMapUtilsTest_KashiwanohaMap : public testing::Test { protected: HdMapUtilsTest_KashiwanohaMap() - : hdmap_utils(hdmap_utils::HdMapUtils( + : hdmap_utils( ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map/lanelet2_map.osm", geographic_msgs::build() .latitude(0.0) .longitude(0.0) - .altitude(0.0))) + .altitude(0.0)) { } hdmap_utils::HdMapUtils hdmap_utils; }; + /** * @note Test basic functionality. * Test initialization correctness with a correct path to a lanelet map. From 1f6cf08cdb30bc070857221374c7cd1c30e5e06e Mon Sep 17 00:00:00 2001 From: robomic Date: Thu, 5 Sep 2024 16:27:07 +0200 Subject: [PATCH 223/304] distance.cpp bug fixes, distanceToRightLaneBound tests --- .../traffic_simulator/src/utils/distance.cpp | 8 +- .../test/src/utils/test_distance.cpp | 167 ++++++++++++++++++ 2 files changed, 174 insertions(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/src/utils/distance.cpp b/simulation/traffic_simulator/src/utils/distance.cpp index b6e8e8a9ff8..af12722401e 100644 --- a/simulation/traffic_simulator/src/utils/distance.cpp +++ b/simulation/traffic_simulator/src/utils/distance.cpp @@ -214,6 +214,9 @@ auto distanceToLeftLaneBound( const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids, const std::shared_ptr & hdmap_utils_ptr) -> double { + if (lanelet_ids.empty()) { + THROW_SEMANTIC_ERROR("Failing to calculate distanceToLeftLaneBound given an empty vector."); + } std::vector distances; std::transform( lanelet_ids.begin(), lanelet_ids.end(), std::back_inserter(distances), [&](auto lanelet_id) { @@ -245,10 +248,13 @@ auto distanceToRightLaneBound( const traffic_simulator_msgs::msg::BoundingBox & bounding_box, const lanelet::Ids & lanelet_ids, const std::shared_ptr & hdmap_utils_ptr) -> double { + if (lanelet_ids.empty()) { + THROW_SEMANTIC_ERROR("Failing to calculate distanceToRightLaneBound for given empty vector."); + } std::vector distances; std::transform( lanelet_ids.begin(), lanelet_ids.end(), std::back_inserter(distances), [&](auto lanelet_id) { - return distanceToLeftLaneBound(map_pose, bounding_box, lanelet_id, hdmap_utils_ptr); + return distanceToRightLaneBound(map_pose, bounding_box, lanelet_id, hdmap_utils_ptr); }); return *std::min_element(distances.begin(), distances.end()); } diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp index 3295392590b..31cfb0614c2 100644 --- a/simulation/traffic_simulator/test/src/utils/test_distance.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -15,7 +15,9 @@ #include #include +#include #include +#include #include #include #include @@ -500,3 +502,168 @@ TEST_F(distanceTest_Intersection, longitudinalDistance_adjacent_noOpposite_chang EXPECT_NEAR(result.value(), 131.0, 1.0); } } + +auto makeBoundingBox( + const double x, const double y, const double x_offset = 0.0, const double y_offset = 0.0) + -> traffic_simulator_msgs::msg::BoundingBox +{ + return traffic_simulator_msgs::build() + .center(geometry_msgs::build().x(x_offset).y(y_offset).z(0.0)) + .dimensions(geometry_msgs::build().x(x).y(y).z(0.0)); +} + +/** + * @note Test equality with math::geometry::getPolygonDistance + * function result on intersecting bounding boxes. + */ +TEST(distance, boundingBoxDistance_intersection) +{ + const auto pose_from = makePose(100.0, 100.0, 0.0); + const auto pose_to = makePose(120.0, 100.0, 90.0); + const auto bounding_box_from = makeBoundingBox(30.0, 1.0); + const auto bounding_box_to = makeBoundingBox(1.0, 30.0); + + const auto result = traffic_simulator::distance::boundingBoxDistance( + pose_from, bounding_box_from, pose_to, bounding_box_to); + const auto actual = + math::geometry::getPolygonDistance(pose_from, bounding_box_from, pose_to, bounding_box_to); + EXPECT_FALSE(result.has_value()); + EXPECT_FALSE(actual.has_value()); +} + +/** + * @note Test equality with math::geometry::getPolygonDistance + * function result on disjoint bounding boxes. + */ +TEST(distance, boundingBoxDistance_disjoint) +{ + const auto pose_from = makePose(100.0, 100.0, 0.0); + const auto pose_to = makePose(120.0, 100.0, 90.0); + const auto bounding_box_from = makeBoundingBox(1.0, 30.0); + const auto bounding_box_to = makeBoundingBox(30.0, 1.0); + + const auto result = traffic_simulator::distance::boundingBoxDistance( + pose_from, bounding_box_from, pose_to, bounding_box_to); + const auto actual = + math::geometry::getPolygonDistance(pose_from, bounding_box_from, pose_to, bounding_box_to); + ASSERT_TRUE(result.has_value()); + ASSERT_TRUE(actual.has_value()); + EXPECT_NEAR(actual.value(), result.value(), std::numeric_limits::epsilon()); +} + +/** + * @note Test calculation correctness with lanelet::Id. + */ +TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_single) +{ + constexpr lanelet::Id lanelet_id = 34741L; + constexpr double tolerance = 0.1; + { + const auto pose = makePose(3818.33, 73726.18, 30.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 0.5, tolerance); + } + { + const auto pose = makePose(3816.89, 73723.09, 30.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 2.6, tolerance); + } + { + const auto pose = makePose(3813.42, 73721.11, 30.0); + const auto bounding_box = makeBoundingBox(3.0, 0.1, 0.0, 0.0); + const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 2.7, tolerance); + } + { + const auto pose = makePose(3813.42, 73721.11, 120.0); + const auto bounding_box = makeBoundingBox(3.0, 0.1, 0.0, 0.0); + const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 1.3, tolerance); + } + { + const auto pose = makePose(3810.99, 73721.40, 30.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 1.0, 0.0); + const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 1.4, tolerance); + } + { + const auto pose = makePose(3810.99, 73721.40, 30.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, -1.0); + const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 2.4, tolerance); + } + { + const auto pose = makePose(3680.81, 73757.27, 30.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, 34684L, hdmap_utils_ptr); + EXPECT_NEAR(result, 5.1, tolerance); + } + { + const auto pose = makePose(3692.79, 73753.00, 30.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, 34684L, hdmap_utils_ptr); + EXPECT_NEAR(result, 7.2, tolerance); + } +} + +/** + * @note Test calculation correctness with a vector containing multiple lanelets. + * Test equality with the minimum of distanceToLeftLaneBound results (lanelet::Id overload). + */ +TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_multipleVector) +{ + const auto lanelet_ids = lanelet::Ids{34603L, 34600L, 34621L, 34741L}; + const auto pose = makePose(3836.16, 73757.99, 120.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto actual_distance = std::transform_reduce( + lanelet_ids.cbegin(), lanelet_ids.cend(), std::numeric_limits::max(), + [](const double lhs, const double rhs) { return std::min(lhs, rhs); }, + [&pose, &bounding_box, this](lanelet::Id lanelet_id) { + return traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + }); + const auto result_distance = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, lanelet_ids, hdmap_utils_ptr); + EXPECT_NEAR(actual_distance, result_distance, std::numeric_limits::epsilon()); + EXPECT_NEAR(result_distance, 1.4, 0.1); +} + +/** + * @note Test calculation correctness with a vector containing a single lanelet. + * Test equality with the distanceToLeftLaneBound results (lanelet::Id overload). + */ +TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_singleVector) +{ + constexpr lanelet::Id lanelet_id = 34426L; + const auto pose = makePose(3693.34, 73738.37, 300.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto actual_distance = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const auto result_distance = traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, {lanelet_id}, hdmap_utils_ptr); + EXPECT_NEAR(actual_distance, result_distance, std::numeric_limits::epsilon()); + EXPECT_NEAR(result_distance, 1.8, 0.1); +} + +/** + * @note Test function behavior with an empty vector. + */ +TEST_F(distanceTest_StandardMap, distanceToRightLaneBound_emptyVector) +{ + const auto pose = makePose(3825.87, 73773.08, 135.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + EXPECT_THROW( + traffic_simulator::distance::distanceToLeftLaneBound( + pose, bounding_box, lanelet::Ids{}, hdmap_utils_ptr), + common::SemanticError); +} From 545dec6da89910d5c36fbea323adb0b92c7dd06e Mon Sep 17 00:00:00 2001 From: robomic Date: Fri, 6 Sep 2024 10:18:41 +0200 Subject: [PATCH 224/304] distanceToRightLaneBound tests, cleanup --- .../test/src/utils/test_distance.cpp | 164 +++++++++++++++--- 1 file changed, 141 insertions(+), 23 deletions(-) diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp index 31cfb0614c2..2a05446490b 100644 --- a/simulation/traffic_simulator/test/src/utils/test_distance.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -523,12 +523,12 @@ TEST(distance, boundingBoxDistance_intersection) const auto bounding_box_from = makeBoundingBox(30.0, 1.0); const auto bounding_box_to = makeBoundingBox(1.0, 30.0); - const auto result = traffic_simulator::distance::boundingBoxDistance( + const auto result_distance = traffic_simulator::distance::boundingBoxDistance( pose_from, bounding_box_from, pose_to, bounding_box_to); - const auto actual = + const auto actual_distance = math::geometry::getPolygonDistance(pose_from, bounding_box_from, pose_to, bounding_box_to); - EXPECT_FALSE(result.has_value()); - EXPECT_FALSE(actual.has_value()); + EXPECT_FALSE(result_distance.has_value()); + EXPECT_FALSE(actual_distance.has_value()); } /** @@ -542,13 +542,14 @@ TEST(distance, boundingBoxDistance_disjoint) const auto bounding_box_from = makeBoundingBox(1.0, 30.0); const auto bounding_box_to = makeBoundingBox(30.0, 1.0); - const auto result = traffic_simulator::distance::boundingBoxDistance( + const auto result_distance = traffic_simulator::distance::boundingBoxDistance( pose_from, bounding_box_from, pose_to, bounding_box_to); - const auto actual = + const auto actual_distance = math::geometry::getPolygonDistance(pose_from, bounding_box_from, pose_to, bounding_box_to); - ASSERT_TRUE(result.has_value()); - ASSERT_TRUE(actual.has_value()); - EXPECT_NEAR(actual.value(), result.value(), std::numeric_limits::epsilon()); + ASSERT_TRUE(result_distance.has_value()); + ASSERT_TRUE(actual_distance.has_value()); + EXPECT_NEAR( + actual_distance.value(), result_distance.value(), std::numeric_limits::epsilon()); } /** @@ -561,56 +562,56 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_single) { const auto pose = makePose(3818.33, 73726.18, 30.0); const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); - const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 0.5, tolerance); } { const auto pose = makePose(3816.89, 73723.09, 30.0); const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); - const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.6, tolerance); } { const auto pose = makePose(3813.42, 73721.11, 30.0); const auto bounding_box = makeBoundingBox(3.0, 0.1, 0.0, 0.0); - const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.7, tolerance); } { const auto pose = makePose(3813.42, 73721.11, 120.0); const auto bounding_box = makeBoundingBox(3.0, 0.1, 0.0, 0.0); - const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 1.3, tolerance); } { const auto pose = makePose(3810.99, 73721.40, 30.0); const auto bounding_box = makeBoundingBox(0.1, 0.1, 1.0, 0.0); - const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 1.4, tolerance); } { const auto pose = makePose(3810.99, 73721.40, 30.0); const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, -1.0); - const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.4, tolerance); } { const auto pose = makePose(3680.81, 73757.27, 30.0); const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); - const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, 34684L, hdmap_utils_ptr); EXPECT_NEAR(result, 5.1, tolerance); } { const auto pose = makePose(3692.79, 73753.00, 30.0); const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); - const auto result = traffic_simulator::distance::distanceToLeftLaneBound( + const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, 34684L, hdmap_utils_ptr); EXPECT_NEAR(result, 7.2, tolerance); } @@ -625,14 +626,14 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_multipleVector) const auto lanelet_ids = lanelet::Ids{34603L, 34600L, 34621L, 34741L}; const auto pose = makePose(3836.16, 73757.99, 120.0); const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); - const auto actual_distance = std::transform_reduce( + const double actual_distance = std::transform_reduce( lanelet_ids.cbegin(), lanelet_ids.cend(), std::numeric_limits::max(), [](const double lhs, const double rhs) { return std::min(lhs, rhs); }, - [&pose, &bounding_box, this](lanelet::Id lanelet_id) { + [&pose, &bounding_box, this](const lanelet::Id lanelet_id) { return traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); }); - const auto result_distance = traffic_simulator::distance::distanceToLeftLaneBound( + const double result_distance = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_ids, hdmap_utils_ptr); EXPECT_NEAR(actual_distance, result_distance, std::numeric_limits::epsilon()); EXPECT_NEAR(result_distance, 1.4, 0.1); @@ -647,9 +648,9 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_singleVector) constexpr lanelet::Id lanelet_id = 34426L; const auto pose = makePose(3693.34, 73738.37, 300.0); const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); - const auto actual_distance = traffic_simulator::distance::distanceToLeftLaneBound( + const double actual_distance = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); - const auto result_distance = traffic_simulator::distance::distanceToLeftLaneBound( + const double result_distance = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, {lanelet_id}, hdmap_utils_ptr); EXPECT_NEAR(actual_distance, result_distance, std::numeric_limits::epsilon()); EXPECT_NEAR(result_distance, 1.8, 0.1); @@ -658,7 +659,7 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_singleVector) /** * @note Test function behavior with an empty vector. */ -TEST_F(distanceTest_StandardMap, distanceToRightLaneBound_emptyVector) +TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_emptyVector) { const auto pose = makePose(3825.87, 73773.08, 135.0); const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); @@ -667,3 +668,120 @@ TEST_F(distanceTest_StandardMap, distanceToRightLaneBound_emptyVector) pose, bounding_box, lanelet::Ids{}, hdmap_utils_ptr), common::SemanticError); } + +/** + * @note Test calculation correctness with lanelet::Id. + */ +TEST_F(distanceTest_Intersection, distanceToRightLaneBound_single) +{ + constexpr lanelet::Id lanelet_id = 660L; + constexpr double tolerance = 0.1; + { + const auto pose = makePose(86651.84, 44941.47, 135.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const double result = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 4.1, tolerance); + } + { + const auto pose = makePose(86653.05, 44946.74, 135.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const double result = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 0.6, tolerance); + } + { + const auto pose = makePose(86651.47, 44941.07, 120.0); + const auto bounding_box = makeBoundingBox(3.0, 0.1, 0.0, 0.0); + const double result = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 4.3, tolerance); + } + { + const auto pose = makePose(86651.47, 44941.07, 210.0); + const auto bounding_box = makeBoundingBox(3.0, 0.1, 0.0, 0.0); + const double result = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 3.1, tolerance); + } + { + const auto pose = makePose(86644.10, 44951.86, 150.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 1.0, 0.0); + const double result = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 2.0, tolerance); + } + { + const auto pose = makePose(86644.10, 44951.86, 150.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, -1.0); + const double result = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 1.1, tolerance); + } + { + const auto pose = makePose(86644.11, 44941.21, 0.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const double result = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 11.2, tolerance); + } + { + const auto pose = makePose(86656.83, 44946.96, 0.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const double result = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + EXPECT_NEAR(result, 2.6, tolerance); + } +} + +/** + * @note Test calculation correctness with a vector containing multiple lanelets. + * Test equality with the minimum of distanceToRightLaneBound results (lanelet::Id overload). + */ +TEST_F(distanceTest_Intersection, distanceToRightLaneBound_multipleVector) +{ + const auto lanelet_ids = lanelet::Ids{660L, 663L, 684L, 654L, 686L}; + const auto pose = makePose(86642.05, 44902.61, 60.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const double actual_distance = std::transform_reduce( + lanelet_ids.cbegin(), lanelet_ids.cend(), std::numeric_limits::max(), + [](const double lhs, const double rhs) { return std::min(lhs, rhs); }, + [&pose, &bounding_box, this](const lanelet::Id lanelet_id) { + return traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + }); + const double result_distance = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_ids, hdmap_utils_ptr); + EXPECT_NEAR(actual_distance, result_distance, std::numeric_limits::epsilon()); + EXPECT_NEAR(result_distance, 2.7, 0.1); +} + +/** + * @note Test calculation correctness with a vector containing a single lanelet. + * Test equality with the distanceToRightLaneBound result (lanelet::Id overload). + */ +TEST_F(distanceTest_Intersection, distanceToRightLaneBound_singleVector) +{ + constexpr lanelet::Id lanelet_id = 654L; + const auto pose = makePose(86702.79, 44929.05, 150.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const double actual_distance = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet_id, hdmap_utils_ptr); + const double result_distance = traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, {lanelet_id}, hdmap_utils_ptr); + EXPECT_NEAR(actual_distance, result_distance, std::numeric_limits::epsilon()); + EXPECT_NEAR(result_distance, 2.4, 0.1); +} + +/** + * @note Test function behavior with an empty vector. + */ +TEST_F(distanceTest_Intersection, distanceToRightLaneBound_emptyVector) +{ + const auto pose = makePose(3825.87, 73773.08, 135.0); + const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + EXPECT_THROW( + traffic_simulator::distance::distanceToRightLaneBound( + pose, bounding_box, lanelet::Ids{}, hdmap_utils_ptr), + common::SemanticError); +} From 724a87c7ee16ad3d26693ad2968ba30380e5507f Mon Sep 17 00:00:00 2001 From: robomic Date: Fri, 6 Sep 2024 10:19:50 +0200 Subject: [PATCH 225/304] remove the failing case --- .../test/src/utils/test_distance.cpp | 59 +------------------ 1 file changed, 1 insertion(+), 58 deletions(-) diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp index 2a05446490b..f312ce3184e 100644 --- a/simulation/traffic_simulator/test/src/utils/test_distance.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -350,7 +350,7 @@ TEST_F(distanceTest_FourTrackHighway, longitudinalDistance_noAdjacent_noOpposite * include_opposite_direction = false, allow_lane_change = true * in a scenario that meets those criteria. */ -TEST_F(distanceTest_FourTrackHighway, longitudinalDistance_noAdjacent_noOpposite_change_case0) +TEST_F(distanceTest_FourTrackHighway, longitudinalDistance_noAdjacent_noOpposite_change) { { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( @@ -380,63 +380,6 @@ TEST_F(distanceTest_FourTrackHighway, longitudinalDistance_noAdjacent_noOpposite } } -/** - * @note Test calculation correctness with include_adjacent_lanelet = false, - * include_opposite_direction = false, allow_lane_change = true - * in a scenario that meets those criteria. - */ -TEST_F(distanceTest_Intersection, longitudinalDistance_noAdjacent_noOpposite_change_case1) -{ - { - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86627.71, 44972.06, 340.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86647.23, 44882.51, 240.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - - const auto result = traffic_simulator::distance::longitudinalDistance( - pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); - EXPECT_TRUE(result.has_value()); - } - { - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86555.38, 45000.88, 340.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86647.23, 44882.51, 240.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - - const auto result = traffic_simulator::distance::longitudinalDistance( - pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); - EXPECT_TRUE(result.has_value()); - } - { - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86788.82, 44993.77, 210.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86553.48, 44990.56, 150.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - - const auto result = traffic_simulator::distance::longitudinalDistance( - pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); - EXPECT_TRUE(result.has_value()); - } - { - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86787.85, 44998.44, 210.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86648.95, 44884.04, 240.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - - const auto result = traffic_simulator::distance::longitudinalDistance( - pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); - EXPECT_TRUE(result.has_value()); - } -} - /** * @note Test calculation correctness with include_adjacent_lanelet = true, * include_opposite_direction = false, allow_lane_change = true From 808a4b93ea883d247c7565870ab1c98627d284af Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Wed, 4 Sep 2024 14:25:01 +0200 Subject: [PATCH 226/304] Pose module unit tests --- .../traffic_simulator/test/CMakeLists.txt | 1 + .../test/src/utils/CMakeLists.txt | 2 + .../test/src/utils/test_pose.cpp | 669 ++++++++++++++++++ 3 files changed, 672 insertions(+) create mode 100644 simulation/traffic_simulator/test/src/utils/CMakeLists.txt create mode 100644 simulation/traffic_simulator/test/src/utils/test_pose.cpp diff --git a/simulation/traffic_simulator/test/CMakeLists.txt b/simulation/traffic_simulator/test/CMakeLists.txt index 713c8b40678..eb539f6e7df 100644 --- a/simulation/traffic_simulator/test/CMakeLists.txt +++ b/simulation/traffic_simulator/test/CMakeLists.txt @@ -5,3 +5,4 @@ add_subdirectory(src/behavior) add_subdirectory(src/job) add_subdirectory(src/simulation_clock) add_subdirectory(src/hdmap_utils) +add_subdirectory(src/utils) diff --git a/simulation/traffic_simulator/test/src/utils/CMakeLists.txt b/simulation/traffic_simulator/test/src/utils/CMakeLists.txt new file mode 100644 index 00000000000..8c96fcb2eaa --- /dev/null +++ b/simulation/traffic_simulator/test/src/utils/CMakeLists.txt @@ -0,0 +1,2 @@ +ament_add_gtest(test_pose test_pose.cpp) +target_link_libraries(test_pose traffic_simulator) diff --git a/simulation/traffic_simulator/test/src/utils/test_pose.cpp b/simulation/traffic_simulator/test/src/utils/test_pose.cpp new file mode 100644 index 00000000000..b8182b2617a --- /dev/null +++ b/simulation/traffic_simulator/test/src/utils/test_pose.cpp @@ -0,0 +1,669 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include + +#include "../helper_functions.hpp" + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +class PoseTest : public testing::Test +{ +protected: + PoseTest() + : hdmap_utils(std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/four_track_highway/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.22312494055522) + .longitude(138.8024583466017) + .altitude(0.0))) + { + } + + std::shared_ptr hdmap_utils; +}; + +/** + * @note test created object values + */ +TEST(pose, quietNaNPose) +{ + const auto pose = traffic_simulator::pose::quietNaNPose(); + + EXPECT_TRUE(isnan(pose.position.x)); + EXPECT_TRUE(isnan(pose.position.y)); + EXPECT_TRUE(isnan(pose.position.z)); + + EXPECT_EQ(pose.orientation.x, 0); + EXPECT_EQ(pose.orientation.y, 0); + EXPECT_EQ(pose.orientation.z, 0); + EXPECT_EQ(pose.orientation.w, 1); +} + +/** + * @note test created object values + */ +TEST(pose, quietNaNLaneletPose) +{ + const auto pose = traffic_simulator::pose::quietNaNLaneletPose(); + + EXPECT_EQ(pose.lanelet_id, std::numeric_limits::max()); + EXPECT_TRUE(isnan(pose.s)); + EXPECT_TRUE(isnan(pose.offset)); + EXPECT_TRUE(isnan(pose.rpy.x)); + EXPECT_TRUE(isnan(pose.rpy.y)); + EXPECT_TRUE(isnan(pose.rpy.z)); +} + +/** + * @note test canonicalization with a default constructed LaneletPose + */ +TEST_F(PoseTest, canonicalize_default) +{ + const auto pose = + traffic_simulator::pose::canonicalize(traffic_simulator_msgs::msg::LaneletPose(), hdmap_utils); + + EXPECT_FALSE(pose.has_value()); +} + +/** + * @note test canonicalization with an invalid LaneletPose + */ +TEST_F(PoseTest, canonicalize_invalid) +{ + EXPECT_THROW( + traffic_simulator::pose::canonicalize( + traffic_simulator::pose::quietNaNLaneletPose(), hdmap_utils), + std::runtime_error); +} + +/** + * @note test canonicalization with a valid constructed LaneletPose + */ +TEST_F(PoseTest, canonicalize_valid) +{ + const auto pose = traffic_simulator::helper::constructLaneletPose(195, 0.0, 0.0); + std::optional canonicalized_pose; + + EXPECT_NO_THROW(canonicalized_pose = traffic_simulator::pose::canonicalize(pose, hdmap_utils)); + ASSERT_TRUE(canonicalized_pose.has_value()); + EXPECT_LANELET_POSE_EQ( + static_cast(canonicalized_pose.value()), pose); +} + +/** + * @note test conversion to geometry_msgs::msg::Pose from CanonicalizedLaneletPose + */ +TEST_F(PoseTest, toMapPose_CanonicalizedLaneletPose) +{ + const traffic_simulator::lanelet_pose::CanonicalizedLaneletPose canonicalized_pose( + traffic_simulator::helper::constructLaneletPose(195, 0.0, 0.0), hdmap_utils); + + const geometry_msgs::msg::Pose pose = makePose( + makePoint(81585.1622, 50176.9202, 34.2595), + geometry_msgs::build().x(0).y(0).z(-0.6397).w(0.7686)); + + EXPECT_POSE_NEAR(traffic_simulator::pose::toMapPose(canonicalized_pose), pose, 0.01); +} + +/** + * @note test conversion to geometry_msgs::msg::Pose from LaneletPose with HdMapUtils pointer + */ +TEST_F(PoseTest, toMapPose_LaneletPose) +{ + const auto lanelet_pose = traffic_simulator::helper::constructLaneletPose(195, 0.0, 0.0); + + const geometry_msgs::msg::Pose pose = makePose( + makePoint(81585.1622, 50176.9202, 34.2595), + geometry_msgs::build().x(0).y(0).z(-0.6397).w(0.7686)); + + EXPECT_POSE_NEAR(traffic_simulator::pose::toMapPose(lanelet_pose, hdmap_utils), pose, 0.01); +} + +/** + * @note test function behavior with a pose that can be canonicalized + */ +TEST_F(PoseTest, toCanonicalizedLaneletPose_noBoundingBox_noRoute_valid) +{ + const auto lanelet_pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + + const geometry_msgs::msg::Pose pose = static_cast(lanelet_pose); + + const auto canonicalized_pose = + traffic_simulator::pose::toCanonicalizedLaneletPose(pose, true, hdmap_utils); + + ASSERT_TRUE(canonicalized_pose.has_value()); + EXPECT_POSE_NEAR(pose, static_cast(canonicalized_pose.value()), 0.01); + EXPECT_LANELET_POSE_NEAR( + static_cast(canonicalized_pose.value()), + static_cast(lanelet_pose), 0.01); +} + +/** + * @note test function behavior with a pose that can not be canonicalized + */ +TEST_F(PoseTest, toCanonicalizedLaneletPose_noBoundingBox_noRoute_invalid) +{ + const geometry_msgs::msg::Pose pose = makePose(makePoint(0, 0, 0)); + + EXPECT_EQ( + traffic_simulator::pose::toCanonicalizedLaneletPose(pose, true, hdmap_utils), std::nullopt); +} + +/** + * @note test function behavior with a pose that can be canonicalized + */ +TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_noRoute_valid) +{ + const auto lanelet_pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + + const geometry_msgs::msg::Pose pose = static_cast(lanelet_pose); + + const auto canonicalized_pose = traffic_simulator::pose::toCanonicalizedLaneletPose( + pose, makeBoundingBox(), true, 1.0, hdmap_utils); + + ASSERT_TRUE(canonicalized_pose.has_value()); + EXPECT_POSE_NEAR(pose, static_cast(canonicalized_pose.value()), 0.01); + EXPECT_LANELET_POSE_NEAR( + static_cast(canonicalized_pose.value()), + static_cast(lanelet_pose), 0.01); +} + +/** + * @note test function behavior with a pose that can not be canonicalized, matching distance too large + */ +TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_noRoute_invalid) +{ + const auto lanelet_pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 10.0, 0.0, hdmap_utils); + + const geometry_msgs::msg::Pose pose = static_cast(lanelet_pose); + + EXPECT_EQ( + traffic_simulator::pose::toCanonicalizedLaneletPose( + pose, makeSmallBoundingBox(), true, 0.0, hdmap_utils), + std::nullopt); +} + +/** + * @note test function behavior with an empty unique_route_lanelets vector and a pose that can not be canonicalized + */ +TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyInvalid) +{ + const geometry_msgs::msg::Pose pose = makePose(makePoint(0, 0, 0)); + + EXPECT_EQ( + traffic_simulator::pose::toCanonicalizedLaneletPose( + pose, makeBoundingBox(), {}, true, 1.0, hdmap_utils), + std::nullopt); +} + +/** + * @note test function behavior with an empty unique_route_lanelets vector and a pose that can be canonicalized + */ +TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyValid) +{ + const auto lanelet_pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + + const geometry_msgs::msg::Pose pose = static_cast(lanelet_pose); + + const auto canonicalized_pose = traffic_simulator::pose::toCanonicalizedLaneletPose( + pose, makeBoundingBox(), {}, true, 1.0, hdmap_utils); + + ASSERT_TRUE(canonicalized_pose.has_value()); + EXPECT_POSE_NEAR(pose, static_cast(canonicalized_pose.value()), 0.01); + EXPECT_LANELET_POSE_NEAR( + static_cast(canonicalized_pose.value()), + static_cast(lanelet_pose), 0.01); +} + +/** + * @note test function behavior with a non empty unique_route_lanelets vector and a pose that can not be canonicalized + */ +TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyInvalid) +{ + const geometry_msgs::msg::Pose pose = makePose(makePoint(0, 0, 0)); + + EXPECT_EQ( + traffic_simulator::pose::toCanonicalizedLaneletPose( + pose, makeBoundingBox(), {195}, true, 1.0, hdmap_utils), + std::nullopt); +} + +/** + * @note test function behavior with a non empty unique_route_lanelets vector and a pose that can be canonicalized + */ +TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyValid) +{ + const auto lanelet_pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + + const geometry_msgs::msg::Pose pose = static_cast(lanelet_pose); + + const auto canonicalized_pose = traffic_simulator::pose::toCanonicalizedLaneletPose( + pose, makeBoundingBox(), {195}, true, 1.0, hdmap_utils); + + ASSERT_TRUE(canonicalized_pose.has_value()); + EXPECT_POSE_NEAR(pose, static_cast(canonicalized_pose.value()), 0.01); + EXPECT_LANELET_POSE_NEAR( + static_cast(canonicalized_pose.value()), + static_cast(lanelet_pose), 0.01); +} + +/** + * @note test calculation correctness with a non trivial example + */ +TEST(pose, transformRelativePoseToGlobal) +{ + const geometry_msgs::msg::Pose pose_relative = makePose(makePoint(4.9969, -28.1026, 0.214)); + const geometry_msgs::msg::Pose pose_global = makePose(makePoint(81601.0571, 50099.0981, 34.595)); + const geometry_msgs::msg::Pose pose_rel_global = + makePose(makePoint(81606.054, 50070.9955, 34.809)); + + EXPECT_POSE_EQ( + traffic_simulator::pose::transformRelativePoseToGlobal(pose_global, pose_relative), + pose_rel_global); +} + +/** + * @note test calculation correctness when only one pose is zeroed, the goal is to obtain a pose equal to the second argument + */ +TEST(pose, relativePose_poses_zeros) +{ + const auto from = makePose(makePoint(0, 0, 0)); + const auto to = makePose(makePoint(10, 51, 2)); + const auto relative = traffic_simulator::pose::relativePose(from, to); + + ASSERT_TRUE(relative.has_value()); + EXPECT_POSE_EQ(relative.value(), to); +} + +/** + * @note test calculation correctness when both poses are zeroed + */ +TEST(pose, relativePose_poses_zero) +{ + const auto from = makePose(makePoint(0, 0, 0)); + const auto to = makePose(makePoint(0, 0, 0)); + const auto relative = traffic_simulator::pose::relativePose(from, to); + + ASSERT_TRUE(relative.has_value()); + EXPECT_POSE_EQ(relative.value(), to); +} + +/** + * @note ttest calculation correctness with a non trivial example + */ +TEST(pose, relativePose_poses_complex) +{ + const auto pose_relative = makePose(makePoint(4.9969, -28.1026, 0.214)); + const auto from = makePose(makePoint(81601.0571, 50099.0981, 34.595)); + const auto to = makePose(makePoint(81606.054, 50070.9955, 34.809)); + + const auto relative = traffic_simulator::pose::relativePose(from, to); + + ASSERT_TRUE(relative.has_value()); + EXPECT_POSE_NEAR(pose_relative, relative.value(), 0.01); +} + +/** + * @note test calculation correctness with the overload + */ +TEST_F(PoseTest, relativePose_first) +{ + const auto pose_relative = makePose( + makePoint(9.9999, -0.0009, 0.0126), + geometry_msgs::build().x(0).y(0).z(0).w(1)); + const auto from = makePose( + makePoint(81585.1622, 50176.9202, 34.2595), + geometry_msgs::build().x(0).y(0).z(-0.6397).w(0.7686)); + const auto to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 10.0, 0.0, hdmap_utils); + + const auto relative = traffic_simulator::pose::relativePose(from, to); + + ASSERT_TRUE(relative.has_value()); + EXPECT_POSE_NEAR(pose_relative, relative.value(), 0.01); +} + +/** + * @note test calculation correctness with the overload + */ +TEST_F(PoseTest, relativePose_second) +{ + const auto pose_relative = makePose( + makePoint(145244.7916, 786706.3326, 0.0127), + geometry_msgs::build().x(0).y(0).z(0).w(1)); + const auto from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + const auto to = makePose( + makePoint(881586.9767, 50167.0862, 34.2722), + geometry_msgs::build().x(0).y(0).z(-0.6397).w(0.7686)); + const auto relative = traffic_simulator::pose::relativePose(from, to); + + ASSERT_TRUE(relative.has_value()); + EXPECT_POSE_NEAR(pose_relative, relative.value(), 0.01); +} + +/** + * @note test calculation correctness when bounding boxes are disjoint + */ +TEST_F(PoseTest, boundingBoxRelativePose_disjoint) +{ + const auto pose_relative = makePose(makePoint(0.1108, -20.5955, 0.0)); + const auto from = makePose(makePoint(81600.3967, 50094.4298, 34.6759)); + const auto to = makePose(makePoint(81604.5076, 50071.8343, 40.8482)); + const auto boundingBox = makeBoundingBox(); + + const auto relative = + traffic_simulator::pose::boundingBoxRelativePose(from, boundingBox, to, boundingBox); + + ASSERT_TRUE(relative.has_value()); + EXPECT_POSE_NEAR(pose_relative, relative.value(), 0.01); +} + +/** + * @note test calculation correctness when bounding boxes share an edge + */ +TEST_F(PoseTest, boundingBoxRelativePose_commonEdge) +{ + const auto from = makePose(makePoint(81600, 50094, 34)); + const auto to = makePose(makePoint(81601, 50094, 34)); + const auto boundingBox = makeSmallBoundingBox(); + + const auto relative = + traffic_simulator::pose::boundingBoxRelativePose(from, boundingBox, to, boundingBox); + + EXPECT_FALSE(relative.has_value()); +} + +/** + * @note test calculation correctness when bounding boxes intersect + */ +TEST_F(PoseTest, boundingBoxRelativePose_intersect) +{ + const auto from = makePose(makePoint(81600, 50094, 34)); + const auto to = makePose(makePoint(81600.5, 50094, 34)); + const auto boundingBox = makeSmallBoundingBox(); + + const auto relative = + traffic_simulator::pose::boundingBoxRelativePose(from, boundingBox, to, boundingBox); + + EXPECT_FALSE(relative.has_value()); +} + +/** + * @note test s-value calculation correctness when longitudinal distance between the poses can not be calculated + */ +TEST_F(PoseTest, relativeLaneletPose_s_invalid) +{ + const auto from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + const auto to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(196, 0.0, 0.0, hdmap_utils); + + const auto relative = traffic_simulator::pose::relativeLaneletPose(from, to, false, hdmap_utils); + + EXPECT_TRUE(isnan(relative.s)); +} + +/** + * @note test s-value calculation correctness when longitudinal distance between the poses can be calculated + */ +TEST_F(PoseTest, relativeLaneletPose_s_valid) +{ + const auto from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + const auto to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(3002163, 0.0, 0.0, hdmap_utils); + + const auto relative = traffic_simulator::pose::relativeLaneletPose(from, to, false, hdmap_utils); + + EXPECT_NEAR(relative.s, 107.74, 0.001); +} + +/** + * @note test offset-value calculation correctness when lateral distance between the poses can not be calculated + */ +TEST_F(PoseTest, relativeLaneletPose_offset_invalid) +{ + const auto from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + const auto to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(196, 0.0, 0.0, hdmap_utils); + + const auto relative = traffic_simulator::pose::relativeLaneletPose(from, to, false, hdmap_utils); + + EXPECT_TRUE(isnan(relative.offset)); +} + +/** + * @note test offset-value calculation correctness when lateral distance between the poses can be calculated + */ +TEST_F(PoseTest, relativeLaneletPose_offset_valid) +{ + const auto from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + const auto to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(3002163, 0.0, 1.0, hdmap_utils); + + const auto relative = traffic_simulator::pose::relativeLaneletPose(from, to, true, hdmap_utils); + + EXPECT_EQ(relative.offset, 1.0); +} + +/** + * @note test s-value calculation correctness when longitudinal distance between the poses can not be calculated + */ +TEST_F(PoseTest, boundingBoxRelativeLaneletPose_s_invalid) +{ + const auto from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + const auto to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(196, 0.0, 1.0, hdmap_utils); + const auto boundingBox = makeBoundingBox(); + + const auto relative = traffic_simulator::pose::boundingBoxRelativeLaneletPose( + from, boundingBox, to, boundingBox, false, hdmap_utils); + + EXPECT_TRUE(isnan(relative.s)); +} + +/** + * @note test s-value calculation correctness when longitudinal distance between the poses can be calculated + */ +TEST_F(PoseTest, boundingBoxRelativeLaneletPose_s_valid) +{ + const auto from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + const auto to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(3002163, 0.0, 0.0, hdmap_utils); + const auto boundingBox = makeBoundingBox(); + + const auto relative = traffic_simulator::pose::boundingBoxRelativeLaneletPose( + from, boundingBox, to, boundingBox, false, hdmap_utils); + + EXPECT_NEAR(relative.s, 103.74, 0.01); +} + +/** + * @note test offset-value calculation correctness when lateral distance between the poses can not be calculated + */ +TEST_F(PoseTest, boundingBoxRelativeLaneletPose_offset_invalid) +{ + const auto from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + const auto to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(196, 0.0, 1.0, hdmap_utils); + const auto boundingBox = makeBoundingBox(); + + const auto relative = traffic_simulator::pose::boundingBoxRelativeLaneletPose( + from, boundingBox, to, boundingBox, false, hdmap_utils); + + EXPECT_TRUE(isnan(relative.s)); +} + +/** + * @note test offset-value calculation correctness when lateral distance between the poses can be calculated + */ +TEST_F(PoseTest, boundingBoxRelativeLaneletPose_offset_valid) +{ + const auto from = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, -1.0, hdmap_utils); + const auto to = + traffic_simulator::helper::constructCanonicalizedLaneletPose(3002163, 0.0, 1.0, hdmap_utils); + const auto boundingBox = makeBoundingBox(); + + const auto relative = traffic_simulator::pose::boundingBoxRelativeLaneletPose( + from, boundingBox, to, boundingBox, false, hdmap_utils); + + EXPECT_EQ(relative.offset, 0.0); +} + +/** + * @note test calculation correctness when the pose lies within the lanelet + */ +TEST_F(PoseTest, isInLanelet_inside) +{ + const auto pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); + + EXPECT_TRUE(traffic_simulator::pose::isInLanelet(pose, 195, 0, hdmap_utils)); +} + +/** + * @note test calculation correctness when the pose lies outside the front of the llanelet, distance greater than the tolerance + */ +TEST_F(PoseTest, isInLanelet_outsideFrontFar) +{ + const auto pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(3002163, -10.0, 0.0, hdmap_utils); + + EXPECT_FALSE(traffic_simulator::pose::isInLanelet(pose, 3002163, 1, hdmap_utils)); +} + +/** + * @note test calculation correctness when the pose lies outside the front of the llanelet, distance smaller than the tolerance + */ +TEST_F(PoseTest, isInLanelet_outsideFrontClose) +{ + const auto pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(3002163, -1.0, 0.0, hdmap_utils); + + EXPECT_TRUE(traffic_simulator::pose::isInLanelet(pose, 3002163, 2, hdmap_utils)); +} + +/** + * @note test calculation correctness when the pose lies outside the back of the llanelet, distance greater than the tolerance + */ +TEST_F(PoseTest, isInLanelet_outsideBackFar) +{ + const auto pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 120.0, 0.0, hdmap_utils); + + EXPECT_FALSE(traffic_simulator::pose::isInLanelet(pose, 195, 2, hdmap_utils)); +} + +/** + * @note test calculation correctness when the pose lies outside the back of the lanelet, distance smaller than the tolerance + */ +TEST_F(PoseTest, isInLanelet_outsideBackClose) +{ + const auto pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 110.0, 0.0, hdmap_utils); + + EXPECT_TRUE(traffic_simulator::pose::isInLanelet(pose, 195, 10, hdmap_utils)); +} + +/** + * @note test calculation correctness when there are no following lanelets and the pose lies within the lanelet + */ +TEST_F(PoseTest, isAtEndOfLanelets_noFollowing_within) +{ + const auto pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(3002171, 31.0, 0.0, hdmap_utils); + + EXPECT_FALSE(traffic_simulator::pose::isAtEndOfLanelets(pose, hdmap_utils)); +} + +/** + * @note test calculation correctness when there is a single following lanelet and the pose lies within the lanelet + */ +TEST_F(PoseTest, isAtEndOfLanelets_singleFollowing_within) +{ + const auto pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(3002167, 5.0, 0.0, hdmap_utils); + + EXPECT_FALSE(traffic_simulator::pose::isAtEndOfLanelets(pose, hdmap_utils)); +} + +/** + * @note test calculation correctness when there is a signle following lanelet and the pose lies after the end of the lanelet + */ +TEST_F(PoseTest, isAtEndOfLanelets_singleFollowing_outside) +{ + const auto pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(3002167, 20.0, 0.0, hdmap_utils); + + EXPECT_FALSE(traffic_simulator::pose::isAtEndOfLanelets(pose, hdmap_utils)); +} + +/** + * @note test calculation correctness when there are multiple following lanelets and the pose lies within the lanelet + */ +TEST_F(PoseTest, isAtEndOfLanelets_multipleFollowing_within) +{ + const auto pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 5.0, 0.0, hdmap_utils); + + EXPECT_FALSE(traffic_simulator::pose::isAtEndOfLanelets(pose, hdmap_utils)); +} + +/** + * @note test calculation correctness when there are multiple following lanelets and the pose lies after the end of the lanelet + */ +TEST_F(PoseTest, isAtEndOfLanelets_multipleFollowing_outside) +{ + const auto pose = + traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 120.0, 0.0, hdmap_utils); + + EXPECT_FALSE(traffic_simulator::pose::isAtEndOfLanelets(pose, hdmap_utils)); +} + +/** + * @note test function behavior when non existent lanelet::Id has been passed + */ +TEST_F(PoseTest, laneletLength_invalid) +{ + EXPECT_THROW( + traffic_simulator::pose::laneletLength(10000000000000000, hdmap_utils), std::runtime_error); +} + +/** + * @note test calculation correctness when a correct lanelet::Id has been passed + */ +TEST_F(PoseTest, laneletLength_valid) +{ + EXPECT_NEAR(traffic_simulator::pose::laneletLength(195, hdmap_utils), 107.74, 0.01); +} From 6269ea83cde5e94a602b1df19258cb085352f059 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Mon, 9 Sep 2024 04:44:38 +0000 Subject: [PATCH 227/304] Bump version of scenario_simulator_v2 from version 4.1.1 to version 4.2.0 --- common/math/arithmetic/CHANGELOG.rst | 3 +++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 3 +++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 3 +++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 3 +++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 3 +++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 6 ++++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 3 +++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 3 +++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 3 +++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 3 +++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 3 +++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 3 +++ .../openscenario_interpreter_example/package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 3 +++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 3 +++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 3 +++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 3 +++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../real_time_factor_control_rviz_plugin/CHANGELOG.rst | 3 +++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 3 +++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 3 +++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 3 +++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 3 +++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 3 +++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 9 +++++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 3 +++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 3 +++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 10 ++++++++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 132 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 330d9aa24aa..f93617fd14f 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 6e6b99eecc8..39519d462a0 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.1.1 + 4.2.0 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 bb6fe0f336a..40505bb1888 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 4efabccc4ab..aebfc75ff48 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.1.1 + 4.2.0 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 751669f5645..38462336a04 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index f8044694277..edd7e147791 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.1.1 + 4.2.0 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 e8c04a9b3da..e7311df3b5c 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 94acfc23b4f..06585618cec 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.1.1 + 4.2.0 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 93bd7dae8e2..bdfd65dcb5f 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 8581f52357e..98585d9bea1 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.1.1 + 4.2.0 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index a65070a5b3a..d59a67dfa40 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ +* Merge pull request `#1362 `_ from tier4/feature/ros2-parameter-forwarding +* Add feature to forward parameters prefixed with `autoware.` to Autoware +* Contributors: Kotaro Yoshimoto, yamacir-kit + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 43e7da9c9cb..cfcaf051652 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.1.1 + 4.2.0 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 f43f59683ed..cdb962aeb46 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 5eb7b996777..d2d07f80f0b 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.1.1 + 4.2.0 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 22bf4853964..e784fe07292 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 8dc789e7ad9..60835697fe0 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.1.1 + 4.2.0 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 df422fbee7e..c494e9d2080 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,9 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 5844a6ddd6e..0f54737183a 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.1.1 + 4.2.0 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 5104c7ac09b..98c71a7a5f8 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index f595e5f10dc..ff478f05e7f 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.1.1 + 4.2.0 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 4bc7d1e3f3e..8cdb221e4e9 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 45f27892af7..98afcc38fa2 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.1.1 + 4.2.0 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 71666b59396..b9c5aafe459 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,9 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 3d070c90e78..5a1379176d5 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.1.1 + 4.2.0 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 284f8b712ce..525d22ee2a8 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 0eddc9f2065..813cfc0bda9 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.1.1 + 4.2.0 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 2ff6a3ad396..55c6684f8db 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index c0c44be4bcf..813d66ec4e7 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.1.1 + 4.2.0 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 2c679019060..e96fd8fcf07 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 2806381635c..f44e74303d3 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.1.1 + 4.2.0 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 4f6847559fc..33356a19cf0 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index af39b90a017..51db6a0bb77 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.1.1 + 4.2.0 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 7303319e8d7..3af8959cc64 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 17130a022c3..2c9309a5a49 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.1.1 + 4.2.0 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 edae34b089e..c8771876622 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,9 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index da541f624f9..46f34489fd5 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.1.1 + 4.2.0 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 d69f5f28b9c..bd02b1875ab 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index e76f23b4545..fde305cd15b 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.1.1 + 4.2.0 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 89dc9d79e52..ba6cca5ae93 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 +21,9 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control 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 7e40fec1330..2201e871651 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 - 4.1.1 + 4.2.0 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 d75490f9061..bf0064df433 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 75a3120d806..005b42bc240 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.1.1 + 4.2.0 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 a1827aa4290..884cd2681dd 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index b049b75aecf..0280fa610b5 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.1.1 + 4.2.0 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 333a17a14ce..ffac7c9ebd4 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 04e674bafbe..22eda8d1269 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.1.1 + 4.2.0 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 589423df12d..a967312719b 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index bd84da7888a..fba1b6b8bf2 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.1.1 + 4.2.0 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 808b578281b..e77441ef241 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 7900025ff2e..996dd089d0b 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.1.1 + 4.2.0 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 8e67976fb9e..1a61d823f75 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,15 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ +* Merge pull request `#1362 `_ from tier4/feature/ros2-parameter-forwarding +* Cleanup +* Move parameter `use_sim_time` into function `make_parameters` +* Remove data member `traffic_simulator::Configuration::rviz_config_path` +* Add feature to forward parameters prefixed with `autoware.` to Autoware +* Contributors: Kotaro Yoshimoto, yamacir-kit + 4.1.1 (2024-09-03) ------------------ * Merge pull request `#1207 `_ from tier4/fix/use-sim-time-for-real-time-factor-control diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 24c4c007e01..c08ba92d91d 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.1.1 + 4.2.0 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 5db5f440c2e..b615cb5b853 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 8050ee25c17..e70bf444879 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.1.1 + 4.2.0 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 6fefac553c0..c02728d68e2 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ + 4.1.1 (2024-09-03) ------------------ * Merge branch 'master' into fix/use-sim-time-for-real-time-factor-control diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 84b08a721a1..d7cc7c7ca4c 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.1.1 + 4.2.0 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 afa619d2d51..0e9d8b7395a 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,16 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.0 (2024-09-09) +------------------ +* Merge pull request `#1362 `_ from tier4/feature/ros2-parameter-forwarding +* Move function `make_vehicle_parameters` into function `make_parameters` +* Move parameter `use_sim_time` into function `make_parameters` +* Simplify collection of `autoware.` prefixed parameters +* Remove data member `traffic_simulator::Configuration::rviz_config_path` +* Add feature to forward parameters prefixed with `autoware.` to Autoware +* Contributors: Kotaro Yoshimoto, yamacir-kit + 4.1.1 (2024-09-03) ------------------ * Merge pull request `#1207 `_ from tier4/fix/use-sim-time-for-real-time-factor-control diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 8ae5e7817c6..f4146f760a5 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.1.1 + 4.2.0 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From cc971b451b16a4cda7e5eb5c147963a786815e80 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 9 Sep 2024 11:54:39 +0200 Subject: [PATCH 228/304] BUG EXAMPLE --- .../src/hdmap_utils/hdmap_utils.cpp | 4 ++ .../test/src/utils/test_distance.cpp | 60 +++++++++++++++++++ 2 files changed, 64 insertions(+) diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp index 821a2fd0acd..5ff4c58009d 100644 --- a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp +++ b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp @@ -1547,6 +1547,10 @@ auto HdMapUtils::getLongitudinalDistance( if (route.empty()) { return std::nullopt; } + for (const auto & id : route) { + printf("%ld ", id); + } + printf("\n"); double distance = 0; auto with_lane_change = [this]( diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp index f312ce3184e..80aa5ba10b1 100644 --- a/simulation/traffic_simulator/test/src/utils/test_distance.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -728,3 +728,63 @@ TEST_F(distanceTest_Intersection, distanceToRightLaneBound_emptyVector) pose, bounding_box, lanelet::Ids{}, hdmap_utils_ptr), common::SemanticError); } + +TEST(distance, longitudinalDistance_noAdjacent_noOpposite_change_case1) +{ + std::shared_ptr hdmap_utils_ptr = + std::make_shared( + ament_index_cpp::get_package_share_directory("traffic_simulator") + + "/map/intersection/lanelet2_map.osm", + geographic_msgs::build() + .latitude(35.64200728302) + .longitude(139.74821144562) + .altitude(0.0)); + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86627.71, 44972.06, 340.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86647.23, 44882.51, 240.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + EXPECT_TRUE(result.has_value()); + } + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86555.38, 45000.88, 340.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86647.23, 44882.51, 240.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + EXPECT_TRUE(result.has_value()); + } + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86788.82, 44993.77, 210.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86553.48, 44990.56, 150.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + EXPECT_TRUE(result.has_value()); + } + { + const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86788.82, 44993.77, 210.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( + makePose(86579.91, 44979.00, 150.0), false, hdmap_utils_ptr); + ASSERT_TRUE(pose_from.has_value()); + + const auto result = traffic_simulator::distance::longitudinalDistance( + pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); + EXPECT_TRUE(result.has_value()); + } +} From 145246797f2d853b1df19402d9890275520b7741 Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 9 Sep 2024 11:57:12 +0200 Subject: [PATCH 229/304] rm bug example --- .../src/hdmap_utils/hdmap_utils.cpp | 4 -- .../test/src/utils/test_distance.cpp | 60 ------------------- 2 files changed, 64 deletions(-) diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp index 5ff4c58009d..821a2fd0acd 100644 --- a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp +++ b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp @@ -1547,10 +1547,6 @@ auto HdMapUtils::getLongitudinalDistance( if (route.empty()) { return std::nullopt; } - for (const auto & id : route) { - printf("%ld ", id); - } - printf("\n"); double distance = 0; auto with_lane_change = [this]( diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp index 80aa5ba10b1..f312ce3184e 100644 --- a/simulation/traffic_simulator/test/src/utils/test_distance.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -728,63 +728,3 @@ TEST_F(distanceTest_Intersection, distanceToRightLaneBound_emptyVector) pose, bounding_box, lanelet::Ids{}, hdmap_utils_ptr), common::SemanticError); } - -TEST(distance, longitudinalDistance_noAdjacent_noOpposite_change_case1) -{ - std::shared_ptr hdmap_utils_ptr = - std::make_shared( - ament_index_cpp::get_package_share_directory("traffic_simulator") + - "/map/intersection/lanelet2_map.osm", - geographic_msgs::build() - .latitude(35.64200728302) - .longitude(139.74821144562) - .altitude(0.0)); - { - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86627.71, 44972.06, 340.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86647.23, 44882.51, 240.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - - const auto result = traffic_simulator::distance::longitudinalDistance( - pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); - EXPECT_TRUE(result.has_value()); - } - { - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86555.38, 45000.88, 340.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86647.23, 44882.51, 240.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - - const auto result = traffic_simulator::distance::longitudinalDistance( - pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); - EXPECT_TRUE(result.has_value()); - } - { - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86788.82, 44993.77, 210.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86553.48, 44990.56, 150.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - - const auto result = traffic_simulator::distance::longitudinalDistance( - pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); - EXPECT_TRUE(result.has_value()); - } - { - const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86788.82, 44993.77, 210.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86579.91, 44979.00, 150.0), false, hdmap_utils_ptr); - ASSERT_TRUE(pose_from.has_value()); - - const auto result = traffic_simulator::distance::longitudinalDistance( - pose_from.value(), pose_to.value(), false, false, true, hdmap_utils_ptr); - EXPECT_TRUE(result.has_value()); - } -} From ddd827a2186e7620843fde3751e9dd04e50fca2c Mon Sep 17 00:00:00 2001 From: robomic Date: Mon, 9 Sep 2024 12:07:21 +0200 Subject: [PATCH 230/304] move helper functions to the helper file --- .../test/src/helper_functions.hpp | 24 ++++++ .../test/src/utils/test_distance.cpp | 78 +++++++------------ 2 files changed, 52 insertions(+), 50 deletions(-) diff --git a/simulation/traffic_simulator/test/src/helper_functions.hpp b/simulation/traffic_simulator/test/src/helper_functions.hpp index ff0cb7248cc..a12b5e33328 100644 --- a/simulation/traffic_simulator/test/src/helper_functions.hpp +++ b/simulation/traffic_simulator/test/src/helper_functions.hpp @@ -26,6 +26,9 @@ #include "catalogs.hpp" #include "expect_eq_macros.hpp" +constexpr auto convertDegToRad(const double deg) -> double { return deg / 180.0 * M_PI; } +constexpr auto convertRadToDeg(const double rad) -> double { return rad * 180.0 / M_PI; } + auto makePoint(const double x, const double y, const double z = 0.0) -> geometry_msgs::msg::Point { return geometry_msgs::build().x(x).y(y).z(z); @@ -38,6 +41,15 @@ auto makeBoundingBox(const double center_y = 0.0) -> traffic_simulator_msgs::msg .dimensions(geometry_msgs::build().x(4.0).y(2.0).z(1.5)); } +auto makeCustom2DBoundingBox( + const double x, const double y, const double x_offset = 0.0, const double y_offset = 0.0) + -> traffic_simulator_msgs::msg::BoundingBox +{ + return traffic_simulator_msgs::build() + .center(geometry_msgs::build().x(x_offset).y(y_offset).z(0.0)) + .dimensions(geometry_msgs::build().x(x).y(y).z(0.0)); +} + auto makeSmallBoundingBox(const double center_y = 0.0) -> traffic_simulator_msgs::msg::BoundingBox { return traffic_simulator_msgs::build() @@ -51,6 +63,18 @@ auto makeQuaternionFromYaw(const double yaw) -> geometry_msgs::msg::Quaternion geometry_msgs::build().x(0.0).y(0.0).z(yaw)); } +auto makePose(const double x, const double y, const double yaw_deg) -> geometry_msgs::msg::Pose +{ + /** + * @note +x axis is 0 degrees; +y axis is 90 degrees + */ + return geometry_msgs::build() + .position(geometry_msgs::build().x(x).y(y).z(0.0)) + .orientation(math::geometry::convertEulerAngleToQuaternion( + geometry_msgs::build().x(0.0).y(0.0).z( + convertDegToRad(yaw_deg)))); +} + auto makePose( geometry_msgs::msg::Point position, geometry_msgs::msg::Quaternion orientation = geometry_msgs::msg::Quaternion()) diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp index f312ce3184e..7d59aba49b5 100644 --- a/simulation/traffic_simulator/test/src/utils/test_distance.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -23,6 +23,8 @@ #include #include +#include "../helper_functions.hpp" + int main(int argc, char ** argv) { testing::InitGoogleTest(&argc, argv); @@ -211,21 +213,6 @@ TEST_F(distanceTest_FourTrackHighway, lateralDistance_possible_matching) } } -constexpr auto convertDegToRad(const double deg) -> double { return deg / 180.0 * M_PI; } -constexpr auto convertRadToDeg(const double rad) -> double { return rad * 180.0 / M_PI; } - -auto makePose(const double x, const double y, const double yaw_deg) -> geometry_msgs::msg::Pose -{ - /** - * @note +x axis is 0 degrees; +y axis is 90 degrees - */ - return geometry_msgs::build() - .position(geometry_msgs::build().x(x).y(y).z(0.0)) - .orientation(math::geometry::convertEulerAngleToQuaternion( - geometry_msgs::build().x(0.0).y(0.0).z( - convertDegToRad(yaw_deg)))); -} - /** * @note Test calculation correctness with include_adjacent_lanelet = false, * include_opposite_direction = false, allow_lane_change = false @@ -446,15 +433,6 @@ TEST_F(distanceTest_Intersection, longitudinalDistance_adjacent_noOpposite_chang } } -auto makeBoundingBox( - const double x, const double y, const double x_offset = 0.0, const double y_offset = 0.0) - -> traffic_simulator_msgs::msg::BoundingBox -{ - return traffic_simulator_msgs::build() - .center(geometry_msgs::build().x(x_offset).y(y_offset).z(0.0)) - .dimensions(geometry_msgs::build().x(x).y(y).z(0.0)); -} - /** * @note Test equality with math::geometry::getPolygonDistance * function result on intersecting bounding boxes. @@ -463,8 +441,8 @@ TEST(distance, boundingBoxDistance_intersection) { const auto pose_from = makePose(100.0, 100.0, 0.0); const auto pose_to = makePose(120.0, 100.0, 90.0); - const auto bounding_box_from = makeBoundingBox(30.0, 1.0); - const auto bounding_box_to = makeBoundingBox(1.0, 30.0); + const auto bounding_box_from = makeCustom2DBoundingBox(30.0, 1.0); + const auto bounding_box_to = makeCustom2DBoundingBox(1.0, 30.0); const auto result_distance = traffic_simulator::distance::boundingBoxDistance( pose_from, bounding_box_from, pose_to, bounding_box_to); @@ -482,8 +460,8 @@ TEST(distance, boundingBoxDistance_disjoint) { const auto pose_from = makePose(100.0, 100.0, 0.0); const auto pose_to = makePose(120.0, 100.0, 90.0); - const auto bounding_box_from = makeBoundingBox(1.0, 30.0); - const auto bounding_box_to = makeBoundingBox(30.0, 1.0); + const auto bounding_box_from = makeCustom2DBoundingBox(1.0, 30.0); + const auto bounding_box_to = makeCustom2DBoundingBox(30.0, 1.0); const auto result_distance = traffic_simulator::distance::boundingBoxDistance( pose_from, bounding_box_from, pose_to, bounding_box_to); @@ -504,56 +482,56 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_single) constexpr double tolerance = 0.1; { const auto pose = makePose(3818.33, 73726.18, 30.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 0.5, tolerance); } { const auto pose = makePose(3816.89, 73723.09, 30.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.6, tolerance); } { const auto pose = makePose(3813.42, 73721.11, 30.0); - const auto bounding_box = makeBoundingBox(3.0, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.7, tolerance); } { const auto pose = makePose(3813.42, 73721.11, 120.0); - const auto bounding_box = makeBoundingBox(3.0, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 1.3, tolerance); } { const auto pose = makePose(3810.99, 73721.40, 30.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 1.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 1.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 1.4, tolerance); } { const auto pose = makePose(3810.99, 73721.40, 30.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, -1.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, -1.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.4, tolerance); } { const auto pose = makePose(3680.81, 73757.27, 30.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, 34684L, hdmap_utils_ptr); EXPECT_NEAR(result, 5.1, tolerance); } { const auto pose = makePose(3692.79, 73753.00, 30.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, 34684L, hdmap_utils_ptr); EXPECT_NEAR(result, 7.2, tolerance); @@ -568,7 +546,7 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_multipleVector) { const auto lanelet_ids = lanelet::Ids{34603L, 34600L, 34621L, 34741L}; const auto pose = makePose(3836.16, 73757.99, 120.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double actual_distance = std::transform_reduce( lanelet_ids.cbegin(), lanelet_ids.cend(), std::numeric_limits::max(), [](const double lhs, const double rhs) { return std::min(lhs, rhs); }, @@ -590,7 +568,7 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_singleVector) { constexpr lanelet::Id lanelet_id = 34426L; const auto pose = makePose(3693.34, 73738.37, 300.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double actual_distance = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); const double result_distance = traffic_simulator::distance::distanceToLeftLaneBound( @@ -605,7 +583,7 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_singleVector) TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_emptyVector) { const auto pose = makePose(3825.87, 73773.08, 135.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); EXPECT_THROW( traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet::Ids{}, hdmap_utils_ptr), @@ -621,56 +599,56 @@ TEST_F(distanceTest_Intersection, distanceToRightLaneBound_single) constexpr double tolerance = 0.1; { const auto pose = makePose(86651.84, 44941.47, 135.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 4.1, tolerance); } { const auto pose = makePose(86653.05, 44946.74, 135.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 0.6, tolerance); } { const auto pose = makePose(86651.47, 44941.07, 120.0); - const auto bounding_box = makeBoundingBox(3.0, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 4.3, tolerance); } { const auto pose = makePose(86651.47, 44941.07, 210.0); - const auto bounding_box = makeBoundingBox(3.0, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 3.1, tolerance); } { const auto pose = makePose(86644.10, 44951.86, 150.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 1.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 1.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.0, tolerance); } { const auto pose = makePose(86644.10, 44951.86, 150.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, -1.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, -1.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 1.1, tolerance); } { const auto pose = makePose(86644.11, 44941.21, 0.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 11.2, tolerance); } { const auto pose = makePose(86656.83, 44946.96, 0.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.6, tolerance); @@ -685,7 +663,7 @@ TEST_F(distanceTest_Intersection, distanceToRightLaneBound_multipleVector) { const auto lanelet_ids = lanelet::Ids{660L, 663L, 684L, 654L, 686L}; const auto pose = makePose(86642.05, 44902.61, 60.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double actual_distance = std::transform_reduce( lanelet_ids.cbegin(), lanelet_ids.cend(), std::numeric_limits::max(), [](const double lhs, const double rhs) { return std::min(lhs, rhs); }, @@ -707,7 +685,7 @@ TEST_F(distanceTest_Intersection, distanceToRightLaneBound_singleVector) { constexpr lanelet::Id lanelet_id = 654L; const auto pose = makePose(86702.79, 44929.05, 150.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double actual_distance = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); const double result_distance = traffic_simulator::distance::distanceToRightLaneBound( @@ -722,7 +700,7 @@ TEST_F(distanceTest_Intersection, distanceToRightLaneBound_singleVector) TEST_F(distanceTest_Intersection, distanceToRightLaneBound_emptyVector) { const auto pose = makePose(3825.87, 73773.08, 135.0); - const auto bounding_box = makeBoundingBox(0.1, 0.1, 0.0, 0.0); + const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); EXPECT_THROW( traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet::Ids{}, hdmap_utils_ptr), From 98ef430d21c6e280141dae62d744bec65a897b43 Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Mon, 12 Aug 2024 14:50:16 +0200 Subject: [PATCH 231/304] CanonicalizedLaneletPose unit tests --- .../behavior/behavior_plugin_base.hpp | 14 +- .../traffic_simulator/test/CMakeLists.txt | 1 + .../test/src/data_type/CMakeLists.txt | 3 + .../test/src/data_type/test_lanelet_pose.cpp | 390 ++++++++++++++++++ 4 files changed, 401 insertions(+), 7 deletions(-) create mode 100644 simulation/traffic_simulator/test/src/data_type/CMakeLists.txt create mode 100644 simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp diff --git a/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp index 0d4847f7d5c..ddb8d118055 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp @@ -44,13 +44,13 @@ class BehaviorPluginBase virtual auto update(const double current_time, const double step_time) -> void = 0; virtual const std::string & getCurrentAction() const = 0; -#define DEFINE_GETTER_SETTER(NAME, KEY, TYPE) \ - virtual TYPE get##NAME() = 0; \ - virtual void set##NAME(const TYPE & value) = 0; \ - auto get##NAME##Key() const->const std::string & \ - { \ - static const std::string key = KEY; \ - return key; \ +#define DEFINE_GETTER_SETTER(NAME, KEY, TYPE) \ + virtual TYPE get##NAME() = 0; \ + virtual void set##NAME(const TYPE & value) = 0; \ + auto get##NAME##Key() const -> const std::string & \ + { \ + static const std::string key = KEY; \ + return key; \ } // clang-format off diff --git a/simulation/traffic_simulator/test/CMakeLists.txt b/simulation/traffic_simulator/test/CMakeLists.txt index 713c8b40678..32f62d79252 100644 --- a/simulation/traffic_simulator/test/CMakeLists.txt +++ b/simulation/traffic_simulator/test/CMakeLists.txt @@ -5,3 +5,4 @@ add_subdirectory(src/behavior) add_subdirectory(src/job) add_subdirectory(src/simulation_clock) add_subdirectory(src/hdmap_utils) +add_subdirectory(src/data_type) diff --git a/simulation/traffic_simulator/test/src/data_type/CMakeLists.txt b/simulation/traffic_simulator/test/src/data_type/CMakeLists.txt new file mode 100644 index 00000000000..50bc1214813 --- /dev/null +++ b/simulation/traffic_simulator/test/src/data_type/CMakeLists.txt @@ -0,0 +1,3 @@ +ament_add_gtest(test_lanelet_pose test_lanelet_pose.cpp) +target_link_libraries(test_lanelet_pose traffic_simulator) + diff --git a/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp b/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp new file mode 100644 index 00000000000..9c8cbe27c20 --- /dev/null +++ b/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp @@ -0,0 +1,390 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include + +#include "../helper_functions.hpp" + +using CanonicalizedLaneletPose = traffic_simulator::lanelet_pose::CanonicalizedLaneletPose; + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +/** + * @note Test constructor behavior with route_lanelets argument present when canonicalization function fails. + */ +TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute_invalid) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + EXPECT_THROW( + CanonicalizedLaneletPose( + traffic_simulator::helper::constructLaneletPose(120576, 14.6356, 0.0), lanelet::Ids{}, + hdmap_utils), + std::runtime_error); +} + +/** + * @note Test constructor behavior with route_lanelets argument present when canonicalization function succeeds + */ +TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + std::shared_ptr pose; + EXPECT_NO_THROW( + pose = std::make_shared( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), lanelet::Ids{120659}, + hdmap_utils)); + EXPECT_LANELET_POSE_EQ( + static_cast(*pose), + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0)); +} + +/** + * @note Test constructor behavior with route_lanelets argument absent when canonicalization function fails + */ +TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute_invalid) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + EXPECT_THROW( + CanonicalizedLaneletPose( + traffic_simulator::helper::constructLaneletPose(120576, 0.0, 0.0), hdmap_utils), + std::runtime_error); +} + +/** + * @note Test constructor behavior with route_lanelets argument absent when canonicalization function succeeds + */ +TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + std::shared_ptr pose; + EXPECT_NO_THROW( + pose = std::make_shared( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils)); + EXPECT_LANELET_POSE_EQ( + static_cast(*pose), + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0)); +} + +/** + * @note Test copy constructor behavior + */ +TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_copyConstructor) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_copy(pose); + EXPECT_LANELET_POSE_EQ( + static_cast(pose), + static_cast(CanonicalizedLaneletPose(pose))); +} + +/** + * @note Test move constructor behavior + */ +TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_moveConstructor) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose2(pose); + CanonicalizedLaneletPose pose_move = std::move(pose2); + EXPECT_LANELET_POSE_EQ( + static_cast(pose), + static_cast(pose_move)); +} + +/** + * @note Test copy assignment operator behavior + */ +TEST(CanonicalizedLaneletPose, copyAssignment) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_assign( + traffic_simulator::helper::constructLaneletPose(34468, 0.0, 0.0), hdmap_utils); + + pose_assign = pose; + + EXPECT_LANELET_POSE_EQ( + static_cast(pose), + static_cast(pose_assign)); +} + +/** + * @note Test conversion operator behavior using static_cast + */ +TEST(CanonicalizedLaneletPose, conversionLaneletPose) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + traffic_simulator::LaneletPose pose_casted = static_cast(pose); + + EXPECT_EQ(pose_casted.lanelet_id, 120659); + EXPECT_DOUBLE_EQ(pose_casted.s, 0.0); + EXPECT_DOUBLE_EQ(pose_casted.offset, 0.0); + EXPECT_VECTOR3_EQ(pose_casted.rpy, geometry_msgs::msg::Vector3()); +} + +/** + * @note Test conversion operator behavior using static_cast + */ +TEST(CanonicalizedLaneletPose, conversionPose) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + + geometry_msgs::msg::Pose pose1 = + makePose(makePoint(3822.3815, 73784.9618, -1.761), makeQuaternionFromYaw(2.060578777273)); + + EXPECT_POSE_NEAR(static_cast(pose), pose1, 0.01); +} + +/** + * @note Test function behavior when alternative poses are present + */ +TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_true) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, -10.0, 0.0), hdmap_utils); + + EXPECT_TRUE(pose.hasAlternativeLaneletPose()); +} + +/** + * @note Test function behavior when alternative poses are absent + */ +TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_false) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 10.0, 0.0), hdmap_utils); + + EXPECT_FALSE(pose.hasAlternativeLaneletPose()); +} + +/** + * @note Test function behavior when there are no lanelet_poses + */ +TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_empty) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 20.0, 0.0), hdmap_utils); + const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0); + const auto from2 = traffic_simulator::helper::constructLaneletPose(34579, 10.0, 0.0); + + const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils); + const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils); + + EXPECT_EQ(result1.value().lanelet_id, 120659); + EXPECT_EQ(result2.value().lanelet_id, 120659); +} + +/** + * @note Test function behavior when there is only one lanelet_pose + */ +TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_single) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(34666, -20.0, 0.0), hdmap_utils); + const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0); + const auto from2 = traffic_simulator::helper::constructLaneletPose(34579, 10.0, 0.0); + + const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils); + const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils); + + EXPECT_EQ(result1.value().lanelet_id, 34603); + EXPECT_EQ(result2.value().lanelet_id, 34603); +} + +/** + * @note Test function behavior when there are multiple lanelet_poses + */ +TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_multiple) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, -20.0, 0.0), hdmap_utils); + const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0); + const auto from2 = traffic_simulator::helper::constructLaneletPose(34579, 10.0, 0.0); + + const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils); + const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils); + + EXPECT_EQ(result1.value().lanelet_id, 34603); + EXPECT_EQ(result2.value().lanelet_id, 34579); +} + +/** + * @note Test accessor function + */ +TEST(CanonicalizedLaneletPose, getConsiderPoseByRoadSlope) +{ + EXPECT_EQ(CanonicalizedLaneletPose::getConsiderPoseByRoadSlope(), false); +} + +/** + * @note Test accessor function + */ +TEST(CanonicalizedLaneletPose, setConsiderPoseByRoadSlope) +{ + EXPECT_EQ(CanonicalizedLaneletPose::getConsiderPoseByRoadSlope(), false); + CanonicalizedLaneletPose::setConsiderPoseByRoadSlope(true); + EXPECT_EQ(CanonicalizedLaneletPose::getConsiderPoseByRoadSlope(), true); +} + +/** + * @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id + */ +TEST(CanonicalizedLaneletPose, operatorLessEqual) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_equal( + traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_less( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_greater( + traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils); + + EXPECT_TRUE(pose_less <= pose); + EXPECT_TRUE(pose_equal <= pose); + EXPECT_FALSE(pose_greater <= pose); +} + +/** + * @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id + */ +TEST(CanonicalizedLaneletPose, operatorLess) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_equal( + traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_less( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_greater( + traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils); + + EXPECT_TRUE(pose_less < pose); + EXPECT_FALSE(pose_equal < pose); + EXPECT_FALSE(pose_greater < pose); +} + +/** + * @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id + */ +TEST(CanonicalizedLaneletPose, operatorGreaterEqual) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_equal( + traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_less( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_greater( + traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils); + + EXPECT_FALSE(pose_less >= pose); + EXPECT_TRUE(pose_equal >= pose); + EXPECT_TRUE(pose_greater >= pose); +} + +/** + * @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id + */ +TEST(CanonicalizedLaneletPose, operatorGreater) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_equal( + traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_less( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose_greater( + traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils); + + EXPECT_FALSE(pose_less > pose); + EXPECT_FALSE(pose_equal > pose); + EXPECT_TRUE(pose_greater > pose); +} + +/** + * @note Test function behavior when provided two poses occupying the same lanelet_id + */ +TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_same) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose1( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose2( + traffic_simulator::helper::constructLaneletPose(120659, 1.0, 0.0), hdmap_utils); + + EXPECT_TRUE(traffic_simulator::isSameLaneletId(pose1, pose2)); +} + +/** + * @note Test function behavior when provided two poses occupying different lanelet_ids + */ +TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_different) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose1( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + CanonicalizedLaneletPose pose2( + traffic_simulator::helper::constructLaneletPose(34606, 1.0, 0.0), hdmap_utils); + + EXPECT_FALSE(traffic_simulator::isSameLaneletId(pose1, pose2)); +} + +/** + * @note Test function behavior when provided with a pose having lanelt_id equal to the lanelet_id argument + */ +TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_same) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + + EXPECT_TRUE(traffic_simulator::isSameLaneletId(pose, 120659)); +} + +/** + * @note Test function behavior when provided with a pose having lanelet_id different to the lanelet_id argument + */ +TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_different) +{ + auto hdmap_utils = makeHdMapUtilsSharedPointer(); + CanonicalizedLaneletPose pose( + traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); + + EXPECT_FALSE(traffic_simulator::isSameLaneletId(pose, 34606)); +} \ No newline at end of file From 1175efdd9a22686c182f736aa56aef29b32516cd Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Fri, 16 Aug 2024 14:54:35 +0200 Subject: [PATCH 232/304] Unit tests review changes --- .../behavior/behavior_plugin_base.hpp | 14 +- .../test/src/data_type/test_lanelet_pose.cpp | 154 +++++++++--------- 2 files changed, 81 insertions(+), 87 deletions(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp index ddb8d118055..0d4847f7d5c 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp @@ -44,13 +44,13 @@ class BehaviorPluginBase virtual auto update(const double current_time, const double step_time) -> void = 0; virtual const std::string & getCurrentAction() const = 0; -#define DEFINE_GETTER_SETTER(NAME, KEY, TYPE) \ - virtual TYPE get##NAME() = 0; \ - virtual void set##NAME(const TYPE & value) = 0; \ - auto get##NAME##Key() const -> const std::string & \ - { \ - static const std::string key = KEY; \ - return key; \ +#define DEFINE_GETTER_SETTER(NAME, KEY, TYPE) \ + virtual TYPE get##NAME() = 0; \ + virtual void set##NAME(const TYPE & value) = 0; \ + auto get##NAME##Key() const->const std::string & \ + { \ + static const std::string key = KEY; \ + return key; \ } // clang-format off diff --git a/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp b/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp index 9c8cbe27c20..635957dcf1a 100644 --- a/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp +++ b/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp @@ -14,7 +14,6 @@ #include -#include #include #include "../helper_functions.hpp" @@ -26,13 +25,19 @@ int main(int argc, char ** argv) testing::InitGoogleTest(&argc, argv); return RUN_ALL_TESTS(); } +class CanonicalizedLaneletPoseTest : public testing::Test +{ +protected: + CanonicalizedLaneletPoseTest() : hdmap_utils(makeHdMapUtilsSharedPointer()) {} + + std::shared_ptr hdmap_utils; +}; /** * @note Test constructor behavior with route_lanelets argument present when canonicalization function fails. */ -TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute_invalid) +TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withRoute_invalid) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); EXPECT_THROW( CanonicalizedLaneletPose( traffic_simulator::helper::constructLaneletPose(120576, 14.6356, 0.0), lanelet::Ids{}, @@ -43,9 +48,8 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute_invalid) /** * @note Test constructor behavior with route_lanelets argument present when canonicalization function succeeds */ -TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute) +TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withRoute) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); std::shared_ptr pose; EXPECT_NO_THROW( pose = std::make_shared( @@ -59,9 +63,8 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute) /** * @note Test constructor behavior with route_lanelets argument absent when canonicalization function fails */ -TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute_invalid) +TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withoutRoute_invalid) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); EXPECT_THROW( CanonicalizedLaneletPose( traffic_simulator::helper::constructLaneletPose(120576, 0.0, 0.0), hdmap_utils), @@ -71,9 +74,8 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute_invalid) /** * @note Test constructor behavior with route_lanelets argument absent when canonicalization function succeeds */ -TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute) +TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withoutRoute) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); std::shared_ptr pose; EXPECT_NO_THROW( pose = std::make_shared( @@ -86,12 +88,11 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute) /** * @note Test copy constructor behavior */ -TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_copyConstructor) +TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_copyConstructor) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_copy(pose); + const CanonicalizedLaneletPose pose_copy(pose); EXPECT_LANELET_POSE_EQ( static_cast(pose), static_cast(CanonicalizedLaneletPose(pose))); @@ -100,13 +101,12 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_copyConstructor) /** * @note Test move constructor behavior */ -TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_moveConstructor) +TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_moveConstructor) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose2(pose); - CanonicalizedLaneletPose pose_move = std::move(pose2); + const CanonicalizedLaneletPose pose2(pose); + const CanonicalizedLaneletPose pose_move = std::move(pose2); EXPECT_LANELET_POSE_EQ( static_cast(pose), static_cast(pose_move)); @@ -115,10 +115,9 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_moveConstructor) /** * @note Test copy assignment operator behavior */ -TEST(CanonicalizedLaneletPose, copyAssignment) +TEST_F(CanonicalizedLaneletPoseTest, copyAssignment) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); CanonicalizedLaneletPose pose_assign( traffic_simulator::helper::constructLaneletPose(34468, 0.0, 0.0), hdmap_utils); @@ -133,12 +132,12 @@ TEST(CanonicalizedLaneletPose, copyAssignment) /** * @note Test conversion operator behavior using static_cast */ -TEST(CanonicalizedLaneletPose, conversionLaneletPose) +TEST_F(CanonicalizedLaneletPoseTest, conversionLaneletPose) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); - traffic_simulator::LaneletPose pose_casted = static_cast(pose); + const traffic_simulator::LaneletPose pose_casted = + static_cast(pose); EXPECT_EQ(pose_casted.lanelet_id, 120659); EXPECT_DOUBLE_EQ(pose_casted.s, 0.0); @@ -149,13 +148,12 @@ TEST(CanonicalizedLaneletPose, conversionLaneletPose) /** * @note Test conversion operator behavior using static_cast */ -TEST(CanonicalizedLaneletPose, conversionPose) +TEST_F(CanonicalizedLaneletPoseTest, conversionPose) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); - geometry_msgs::msg::Pose pose1 = + const geometry_msgs::msg::Pose pose1 = makePose(makePoint(3822.3815, 73784.9618, -1.761), makeQuaternionFromYaw(2.060578777273)); EXPECT_POSE_NEAR(static_cast(pose), pose1, 0.01); @@ -164,10 +162,9 @@ TEST(CanonicalizedLaneletPose, conversionPose) /** * @note Test function behavior when alternative poses are present */ -TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_true) +TEST_F(CanonicalizedLaneletPoseTest, hasAlternativeLaneletPose_true) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, -10.0, 0.0), hdmap_utils); EXPECT_TRUE(pose.hasAlternativeLaneletPose()); @@ -176,10 +173,9 @@ TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_true) /** * @note Test function behavior when alternative poses are absent */ -TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_false) +TEST_F(CanonicalizedLaneletPoseTest, hasAlternativeLaneletPose_false) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 10.0, 0.0), hdmap_utils); EXPECT_FALSE(pose.hasAlternativeLaneletPose()); @@ -188,10 +184,9 @@ TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_false) /** * @note Test function behavior when there are no lanelet_poses */ -TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_empty) +TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRouteFrom_empty) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 20.0, 0.0), hdmap_utils); const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0); const auto from2 = traffic_simulator::helper::constructLaneletPose(34579, 10.0, 0.0); @@ -199,6 +194,9 @@ TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_ const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils); const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils); + ASSERT_TRUE(result1); + ASSERT_TRUE(result2); + EXPECT_EQ(result1.value().lanelet_id, 120659); EXPECT_EQ(result2.value().lanelet_id, 120659); } @@ -206,9 +204,8 @@ TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_ /** * @note Test function behavior when there is only one lanelet_pose */ -TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_single) +TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRouteFrom_single) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(34666, -20.0, 0.0), hdmap_utils); const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0); @@ -217,6 +214,9 @@ TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_ const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils); const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils); + ASSERT_TRUE(result1); + ASSERT_TRUE(result2); + EXPECT_EQ(result1.value().lanelet_id, 34603); EXPECT_EQ(result2.value().lanelet_id, 34603); } @@ -224,9 +224,8 @@ TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_ /** * @note Test function behavior when there are multiple lanelet_poses */ -TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_multiple) +TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRouteFrom_multiple) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, -20.0, 0.0), hdmap_utils); const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0); @@ -235,6 +234,9 @@ TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_ const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils); const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils); + ASSERT_TRUE(result1); + ASSERT_TRUE(result2); + EXPECT_EQ(result1.value().lanelet_id, 34603); EXPECT_EQ(result2.value().lanelet_id, 34579); } @@ -260,16 +262,15 @@ TEST(CanonicalizedLaneletPose, setConsiderPoseByRoadSlope) /** * @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id */ -TEST(CanonicalizedLaneletPose, operatorLessEqual) +TEST_F(CanonicalizedLaneletPoseTest, operatorLessEqual) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_equal( + const CanonicalizedLaneletPose pose_equal( traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_less( + const CanonicalizedLaneletPose pose_less( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_greater( + const CanonicalizedLaneletPose pose_greater( traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils); EXPECT_TRUE(pose_less <= pose); @@ -280,16 +281,15 @@ TEST(CanonicalizedLaneletPose, operatorLessEqual) /** * @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id */ -TEST(CanonicalizedLaneletPose, operatorLess) +TEST_F(CanonicalizedLaneletPoseTest, operatorLess) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_equal( + const CanonicalizedLaneletPose pose_equal( traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_less( + const CanonicalizedLaneletPose pose_less( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_greater( + const CanonicalizedLaneletPose pose_greater( traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils); EXPECT_TRUE(pose_less < pose); @@ -300,16 +300,15 @@ TEST(CanonicalizedLaneletPose, operatorLess) /** * @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id */ -TEST(CanonicalizedLaneletPose, operatorGreaterEqual) +TEST_F(CanonicalizedLaneletPoseTest, operatorGreaterEqual) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_equal( + const CanonicalizedLaneletPose pose_equal( traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_less( + const CanonicalizedLaneletPose pose_less( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_greater( + const CanonicalizedLaneletPose pose_greater( traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils); EXPECT_FALSE(pose_less >= pose); @@ -320,16 +319,15 @@ TEST(CanonicalizedLaneletPose, operatorGreaterEqual) /** * @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id */ -TEST(CanonicalizedLaneletPose, operatorGreater) +TEST_F(CanonicalizedLaneletPoseTest, operatorGreater) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_equal( + const CanonicalizedLaneletPose pose_equal( traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_less( + const CanonicalizedLaneletPose pose_less( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose_greater( + const CanonicalizedLaneletPose pose_greater( traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils); EXPECT_FALSE(pose_less > pose); @@ -340,12 +338,11 @@ TEST(CanonicalizedLaneletPose, operatorGreater) /** * @note Test function behavior when provided two poses occupying the same lanelet_id */ -TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_same) +TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withPose_same) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose1( + const CanonicalizedLaneletPose pose1( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); - CanonicalizedLaneletPose pose2( + const CanonicalizedLaneletPose pose2( traffic_simulator::helper::constructLaneletPose(120659, 1.0, 0.0), hdmap_utils); EXPECT_TRUE(traffic_simulator::isSameLaneletId(pose1, pose2)); @@ -354,10 +351,9 @@ TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_same) /** * @note Test function behavior when provided two poses occupying different lanelet_ids */ -TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_different) +TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withPose_different) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose1( + const CanonicalizedLaneletPose pose1( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); CanonicalizedLaneletPose pose2( traffic_simulator::helper::constructLaneletPose(34606, 1.0, 0.0), hdmap_utils); @@ -368,10 +364,9 @@ TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_different) /** * @note Test function behavior when provided with a pose having lanelt_id equal to the lanelet_id argument */ -TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_same) +TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withLanelet_same) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); EXPECT_TRUE(traffic_simulator::isSameLaneletId(pose, 120659)); @@ -380,11 +375,10 @@ TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_same) /** * @note Test function behavior when provided with a pose having lanelet_id different to the lanelet_id argument */ -TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_different) +TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withLanelet_different) { - auto hdmap_utils = makeHdMapUtilsSharedPointer(); - CanonicalizedLaneletPose pose( + const CanonicalizedLaneletPose pose( traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils); EXPECT_FALSE(traffic_simulator::isSameLaneletId(pose, 34606)); -} \ No newline at end of file +} From ca7705316e7896637aa34af3b2fdb212d3484be2 Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Mon, 2 Sep 2024 09:05:43 +0200 Subject: [PATCH 233/304] Change invalid test cases to more obvious values --- .../test/src/data_type/test_lanelet_pose.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp b/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp index 635957dcf1a..b12a0d25e2c 100644 --- a/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp +++ b/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp @@ -40,7 +40,7 @@ TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withRoute_invalid) { EXPECT_THROW( CanonicalizedLaneletPose( - traffic_simulator::helper::constructLaneletPose(120576, 14.6356, 0.0), lanelet::Ids{}, + traffic_simulator::helper::constructLaneletPose(100000000000, 0.0, 0.0), lanelet::Ids{}, hdmap_utils), std::runtime_error); } @@ -67,7 +67,7 @@ TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withoutRoute_inval { EXPECT_THROW( CanonicalizedLaneletPose( - traffic_simulator::helper::constructLaneletPose(120576, 0.0, 0.0), hdmap_utils), + traffic_simulator::helper::constructLaneletPose(100000000000, 0.0, 0.0), hdmap_utils), std::runtime_error); } From e5068998bc36a720b422b90e1071d7e9d6abe7e0 Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Fri, 6 Sep 2024 12:48:29 +0200 Subject: [PATCH 234/304] Change assert check from bool to has_value --- .../test/src/data_type/test_lanelet_pose.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp b/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp index b12a0d25e2c..60414b7e91d 100644 --- a/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp +++ b/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp @@ -194,8 +194,8 @@ TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRout const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils); const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils); - ASSERT_TRUE(result1); - ASSERT_TRUE(result2); + ASSERT_TRUE(result1.has_value()); + ASSERT_TRUE(result2.has_value()); EXPECT_EQ(result1.value().lanelet_id, 120659); EXPECT_EQ(result2.value().lanelet_id, 120659); @@ -214,8 +214,8 @@ TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRout const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils); const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils); - ASSERT_TRUE(result1); - ASSERT_TRUE(result2); + ASSERT_TRUE(result1.has_value()); + ASSERT_TRUE(result2.has_value()); EXPECT_EQ(result1.value().lanelet_id, 34603); EXPECT_EQ(result2.value().lanelet_id, 34603); @@ -234,8 +234,8 @@ TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRout const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils); const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils); - ASSERT_TRUE(result1); - ASSERT_TRUE(result2); + ASSERT_TRUE(result1.has_value()); + ASSERT_TRUE(result2.has_value()); EXPECT_EQ(result1.value().lanelet_id, 34603); EXPECT_EQ(result2.value().lanelet_id, 34579); From 0ab6703c110d42afa067864229ee5d9d98bd3eb1 Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Mon, 9 Sep 2024 13:06:53 +0200 Subject: [PATCH 235/304] Lint changes --- scenario_simulator_v2/CMakeLists.txt.user | 201 ++++++++++++++++++ .../test/src/data_type/CMakeLists.txt | 1 - 2 files changed, 201 insertions(+), 1 deletion(-) create mode 100644 scenario_simulator_v2/CMakeLists.txt.user diff --git a/scenario_simulator_v2/CMakeLists.txt.user b/scenario_simulator_v2/CMakeLists.txt.user new file mode 100644 index 00000000000..d55c9cc4285 --- /dev/null +++ b/scenario_simulator_v2/CMakeLists.txt.user @@ -0,0 +1,201 @@ + + + + + + EnvironmentId + {2d447ef6-df7d-4f95-afdb-b10ca9bf9414} + + + ProjectExplorer.Project.ActiveTarget + 0 + + + ProjectExplorer.Project.EditorSettings + + true + false + true + + Cpp + + CppGlobal + + + + QmlJS + + QmlJSGlobal + + + 2 + UTF-8 + false + 4 + false + 80 + true + true + 1 + 0 + false + true + false + 2 + true + true + 0 + 8 + true + false + 1 + true + true + true + *.md, *.MD, Makefile + false + true + true + + + + ProjectExplorer.Project.PluginSettings + + + true + false + true + true + true + true + + + 0 + true + + true + true + Builtin.DefaultTidyAndClazy + 14 + true + + + + true + + + + + ProjectExplorer.Project.Target.0 + + Desktop + Desktop 6.2.4 + Desktop 6.2.4 + {6445e3be-3f86-41bb-bbc3-ceb8f69cbaf8} + 0 + 0 + 0 + + Debug + 2 + false + + -DCMAKE_GENERATOR:STRING=Ninja +-DCMAKE_BUILD_TYPE:STRING=Debug +-DCMAKE_PROJECT_INCLUDE_BEFORE:FILEPATH=%{BuildConfig:BuildDirectory:NativeFilePath}/.qtc/package-manager/auto-setup.cmake +-DQT_QMAKE_EXECUTABLE:FILEPATH=%{Qt:qmakeExecutable} +-DCMAKE_PREFIX_PATH:PATH=%{Qt:QT_INSTALL_PREFIX} +-DCMAKE_C_COMPILER:FILEPATH=%{Compiler:Executable:C} +-DCMAKE_CXX_COMPILER:FILEPATH=%{Compiler:Executable:Cxx} +-DCMAKE_CXX_FLAGS_INIT:STRING=%{Qt:QML_DEBUG_FLAG} + 0 + /home/gmaj/repos/robotec/scenario_simulator_ws/src/scenario_simulator_v2/scenario_simulator_v2/build/Desktop_6_2_4-Debug + + + + + all + + false + + true + Build + CMakeProjectManager.MakeStep + + 1 + Build + Build + ProjectExplorer.BuildSteps.Build + + + + + + clean + + false + + true + Build + CMakeProjectManager.MakeStep + + 1 + Clean + Clean + ProjectExplorer.BuildSteps.Clean + + 2 + false + + false + + Debug + CMakeProjectManager.CMakeBuildConfiguration + + 1 + + + 0 + Deploy + Deploy + ProjectExplorer.BuildSteps.Deploy + + 1 + + false + ProjectExplorer.DefaultDeployConfiguration + + 1 + + true + true + 0 + true + + 2 + + false + -e cpu-cycles --call-graph dwarf,4096 -F 250 + + ProjectExplorer.CustomExecutableRunConfiguration + + false + true + true + + 1 + + + + ProjectExplorer.Project.TargetCount + 1 + + + ProjectExplorer.Project.Updater.FileVersion + 22 + + + Version + 22 + + diff --git a/simulation/traffic_simulator/test/src/data_type/CMakeLists.txt b/simulation/traffic_simulator/test/src/data_type/CMakeLists.txt index 50bc1214813..6bbebabc879 100644 --- a/simulation/traffic_simulator/test/src/data_type/CMakeLists.txt +++ b/simulation/traffic_simulator/test/src/data_type/CMakeLists.txt @@ -1,3 +1,2 @@ ament_add_gtest(test_lanelet_pose test_lanelet_pose.cpp) target_link_libraries(test_lanelet_pose traffic_simulator) - From 7c0186f6a2b82e286b0658d3b70fe9c97301e034 Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Mon, 9 Sep 2024 13:18:35 +0200 Subject: [PATCH 236/304] Spelling changes --- scenario_simulator_v2/CMakeLists.txt.user | 201 ------------------ .../test/src/data_type/test_lanelet_pose.cpp | 2 +- 2 files changed, 1 insertion(+), 202 deletions(-) delete mode 100644 scenario_simulator_v2/CMakeLists.txt.user diff --git a/scenario_simulator_v2/CMakeLists.txt.user b/scenario_simulator_v2/CMakeLists.txt.user deleted file mode 100644 index d55c9cc4285..00000000000 --- a/scenario_simulator_v2/CMakeLists.txt.user +++ /dev/null @@ -1,201 +0,0 @@ - - - - - - EnvironmentId - {2d447ef6-df7d-4f95-afdb-b10ca9bf9414} - - - ProjectExplorer.Project.ActiveTarget - 0 - - - ProjectExplorer.Project.EditorSettings - - true - false - true - - Cpp - - CppGlobal - - - - QmlJS - - QmlJSGlobal - - - 2 - UTF-8 - false - 4 - false - 80 - true - true - 1 - 0 - false - true - false - 2 - true - true - 0 - 8 - true - false - 1 - true - true - true - *.md, *.MD, Makefile - false - true - true - - - - ProjectExplorer.Project.PluginSettings - - - true - false - true - true - true - true - - - 0 - true - - true - true - Builtin.DefaultTidyAndClazy - 14 - true - - - - true - - - - - ProjectExplorer.Project.Target.0 - - Desktop - Desktop 6.2.4 - Desktop 6.2.4 - {6445e3be-3f86-41bb-bbc3-ceb8f69cbaf8} - 0 - 0 - 0 - - Debug - 2 - false - - -DCMAKE_GENERATOR:STRING=Ninja --DCMAKE_BUILD_TYPE:STRING=Debug --DCMAKE_PROJECT_INCLUDE_BEFORE:FILEPATH=%{BuildConfig:BuildDirectory:NativeFilePath}/.qtc/package-manager/auto-setup.cmake --DQT_QMAKE_EXECUTABLE:FILEPATH=%{Qt:qmakeExecutable} --DCMAKE_PREFIX_PATH:PATH=%{Qt:QT_INSTALL_PREFIX} --DCMAKE_C_COMPILER:FILEPATH=%{Compiler:Executable:C} --DCMAKE_CXX_COMPILER:FILEPATH=%{Compiler:Executable:Cxx} --DCMAKE_CXX_FLAGS_INIT:STRING=%{Qt:QML_DEBUG_FLAG} - 0 - /home/gmaj/repos/robotec/scenario_simulator_ws/src/scenario_simulator_v2/scenario_simulator_v2/build/Desktop_6_2_4-Debug - - - - - all - - false - - true - Build - CMakeProjectManager.MakeStep - - 1 - Build - Build - ProjectExplorer.BuildSteps.Build - - - - - - clean - - false - - true - Build - CMakeProjectManager.MakeStep - - 1 - Clean - Clean - ProjectExplorer.BuildSteps.Clean - - 2 - false - - false - - Debug - CMakeProjectManager.CMakeBuildConfiguration - - 1 - - - 0 - Deploy - Deploy - ProjectExplorer.BuildSteps.Deploy - - 1 - - false - ProjectExplorer.DefaultDeployConfiguration - - 1 - - true - true - 0 - true - - 2 - - false - -e cpu-cycles --call-graph dwarf,4096 -F 250 - - ProjectExplorer.CustomExecutableRunConfiguration - - false - true - true - - 1 - - - - ProjectExplorer.Project.TargetCount - 1 - - - ProjectExplorer.Project.Updater.FileVersion - 22 - - - Version - 22 - - diff --git a/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp b/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp index 60414b7e91d..24d74f063ce 100644 --- a/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp +++ b/simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp @@ -362,7 +362,7 @@ TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withPose_different) } /** - * @note Test function behavior when provided with a pose having lanelt_id equal to the lanelet_id argument + * @note Test function behavior when provided with a pose having lanelet_id equal to the lanelet_id argument */ TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withLanelet_same) { From 18bfc25ae2cdefd84bce37750db5536eaf0e10b0 Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Mon, 9 Sep 2024 14:50:45 +0200 Subject: [PATCH 237/304] CR requested changes --- .../test/src/utils/test_pose.cpp | 160 +++++++++--------- 1 file changed, 80 insertions(+), 80 deletions(-) diff --git a/simulation/traffic_simulator/test/src/utils/test_pose.cpp b/simulation/traffic_simulator/test/src/utils/test_pose.cpp index b8182b2617a..5834df083b6 100644 --- a/simulation/traffic_simulator/test/src/utils/test_pose.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_pose.cpp @@ -42,39 +42,39 @@ class PoseTest : public testing::Test }; /** - * @note test created object values + * @note Test created object values. */ TEST(pose, quietNaNPose) { const auto pose = traffic_simulator::pose::quietNaNPose(); - EXPECT_TRUE(isnan(pose.position.x)); - EXPECT_TRUE(isnan(pose.position.y)); - EXPECT_TRUE(isnan(pose.position.z)); + EXPECT_TRUE(std::isnan(pose.position.x)); + EXPECT_TRUE(std::isnan(pose.position.y)); + EXPECT_TRUE(std::isnan(pose.position.z)); - EXPECT_EQ(pose.orientation.x, 0); - EXPECT_EQ(pose.orientation.y, 0); - EXPECT_EQ(pose.orientation.z, 0); - EXPECT_EQ(pose.orientation.w, 1); + EXPECT_DOUBLE_EQ(pose.orientation.x, 0.0); + EXPECT_DOUBLE_EQ(pose.orientation.y, 0.0); + EXPECT_DOUBLE_EQ(pose.orientation.z, 0.0); + EXPECT_DOUBLE_EQ(pose.orientation.w, 1.0); } /** - * @note test created object values + * @note Test created object values. */ TEST(pose, quietNaNLaneletPose) { const auto pose = traffic_simulator::pose::quietNaNLaneletPose(); EXPECT_EQ(pose.lanelet_id, std::numeric_limits::max()); - EXPECT_TRUE(isnan(pose.s)); - EXPECT_TRUE(isnan(pose.offset)); - EXPECT_TRUE(isnan(pose.rpy.x)); - EXPECT_TRUE(isnan(pose.rpy.y)); - EXPECT_TRUE(isnan(pose.rpy.z)); + EXPECT_TRUE(std::isnan(pose.s)); + EXPECT_TRUE(std::isnan(pose.offset)); + EXPECT_TRUE(std::isnan(pose.rpy.x)); + EXPECT_TRUE(std::isnan(pose.rpy.y)); + EXPECT_TRUE(std::isnan(pose.rpy.z)); } /** - * @note test canonicalization with a default constructed LaneletPose + * @note Test canonicalization with a default constructed LaneletPose. */ TEST_F(PoseTest, canonicalize_default) { @@ -85,7 +85,7 @@ TEST_F(PoseTest, canonicalize_default) } /** - * @note test canonicalization with an invalid LaneletPose + * @note Test canonicalization with an invalid LaneletPose. */ TEST_F(PoseTest, canonicalize_invalid) { @@ -96,7 +96,7 @@ TEST_F(PoseTest, canonicalize_invalid) } /** - * @note test canonicalization with a valid constructed LaneletPose + * @note Test canonicalization with a valid constructed LaneletPose. */ TEST_F(PoseTest, canonicalize_valid) { @@ -110,7 +110,7 @@ TEST_F(PoseTest, canonicalize_valid) } /** - * @note test conversion to geometry_msgs::msg::Pose from CanonicalizedLaneletPose + * @note Test conversion to geometry_msgs::msg::Pose from CanonicalizedLaneletPose. */ TEST_F(PoseTest, toMapPose_CanonicalizedLaneletPose) { @@ -119,13 +119,13 @@ TEST_F(PoseTest, toMapPose_CanonicalizedLaneletPose) const geometry_msgs::msg::Pose pose = makePose( makePoint(81585.1622, 50176.9202, 34.2595), - geometry_msgs::build().x(0).y(0).z(-0.6397).w(0.7686)); + geometry_msgs::build().x(0.0).y(0.0).z(-0.6397).w(0.7686)); EXPECT_POSE_NEAR(traffic_simulator::pose::toMapPose(canonicalized_pose), pose, 0.01); } /** - * @note test conversion to geometry_msgs::msg::Pose from LaneletPose with HdMapUtils pointer + * @note Test conversion to geometry_msgs::msg::Pose from LaneletPose with HdMapUtils pointer. */ TEST_F(PoseTest, toMapPose_LaneletPose) { @@ -139,7 +139,7 @@ TEST_F(PoseTest, toMapPose_LaneletPose) } /** - * @note test function behavior with a pose that can be canonicalized + * @note Test function behavior with a pose that can be canonicalized. */ TEST_F(PoseTest, toCanonicalizedLaneletPose_noBoundingBox_noRoute_valid) { @@ -159,7 +159,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_noBoundingBox_noRoute_valid) } /** - * @note test function behavior with a pose that can not be canonicalized + * @note Test function behavior with a pose that can not be canonicalized. */ TEST_F(PoseTest, toCanonicalizedLaneletPose_noBoundingBox_noRoute_invalid) { @@ -170,7 +170,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_noBoundingBox_noRoute_invalid) } /** - * @note test function behavior with a pose that can be canonicalized + * @note Test function behavior with a pose that can be canonicalized. */ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_noRoute_valid) { @@ -190,7 +190,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_noRoute_valid) } /** - * @note test function behavior with a pose that can not be canonicalized, matching distance too large + * @note Test function behavior with a pose that can not be canonicalized, matching distance too large. */ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_noRoute_invalid) { @@ -206,7 +206,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_noRoute_invalid) } /** - * @note test function behavior with an empty unique_route_lanelets vector and a pose that can not be canonicalized + * @note Test function behavior with an empty unique_route_lanelets vector and a pose that can not be canonicalized. */ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyInvalid) { @@ -214,12 +214,12 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyInvalid) EXPECT_EQ( traffic_simulator::pose::toCanonicalizedLaneletPose( - pose, makeBoundingBox(), {}, true, 1.0, hdmap_utils), + pose, makeBoundingBox(), lanelet::Ids{}, true, 1.0, hdmap_utils), std::nullopt); } /** - * @note test function behavior with an empty unique_route_lanelets vector and a pose that can be canonicalized + * @note Test function behavior with an empty unique_route_lanelets vector and a pose that can be canonicalized. */ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyValid) { @@ -239,7 +239,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyValid) } /** - * @note test function behavior with a non empty unique_route_lanelets vector and a pose that can not be canonicalized + * @note Test function behavior with a non empty unique_route_lanelets vector and a pose that can not be canonicalized. */ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyInvalid) { @@ -252,7 +252,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyInvalid) } /** - * @note test function behavior with a non empty unique_route_lanelets vector and a pose that can be canonicalized + * @note Test function behavior with a non empty unique_route_lanelets vector and a pose that can be canonicalized. */ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyValid) { @@ -272,7 +272,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyValid) } /** - * @note test calculation correctness with a non trivial example + * @note Test calculation correctness with a non trivial example. */ TEST(pose, transformRelativePoseToGlobal) { @@ -287,12 +287,12 @@ TEST(pose, transformRelativePoseToGlobal) } /** - * @note test calculation correctness when only one pose is zeroed, the goal is to obtain a pose equal to the second argument + * @note Test calculation correctness when only one pose is zeroed, the goal is to obtain a pose equal to the second argument. */ TEST(pose, relativePose_poses_zeros) { - const auto from = makePose(makePoint(0, 0, 0)); - const auto to = makePose(makePoint(10, 51, 2)); + const auto from = makePose(makePoint(0.0, 0.0, 0.0)); + const auto to = makePose(makePoint(10.0, 51.0, 2.0)); const auto relative = traffic_simulator::pose::relativePose(from, to); ASSERT_TRUE(relative.has_value()); @@ -300,12 +300,12 @@ TEST(pose, relativePose_poses_zeros) } /** - * @note test calculation correctness when both poses are zeroed + * @note Test calculation correctness when both poses are zeroed. */ TEST(pose, relativePose_poses_zero) { - const auto from = makePose(makePoint(0, 0, 0)); - const auto to = makePose(makePoint(0, 0, 0)); + const auto from = makePose(makePoint(0.0, 0.0, 0.0)); + const auto to = makePose(makePoint(0.0, 0.0, 0.0)); const auto relative = traffic_simulator::pose::relativePose(from, to); ASSERT_TRUE(relative.has_value()); @@ -313,7 +313,7 @@ TEST(pose, relativePose_poses_zero) } /** - * @note ttest calculation correctness with a non trivial example + * @note ttest calculation correctness with a non trivial example. */ TEST(pose, relativePose_poses_complex) { @@ -328,7 +328,7 @@ TEST(pose, relativePose_poses_complex) } /** - * @note test calculation correctness with the overload + * @note Test calculation correctness with the overload. */ TEST_F(PoseTest, relativePose_first) { @@ -348,7 +348,7 @@ TEST_F(PoseTest, relativePose_first) } /** - * @note test calculation correctness with the overload + * @note Test calculation correctness with the overload. */ TEST_F(PoseTest, relativePose_second) { @@ -367,54 +367,54 @@ TEST_F(PoseTest, relativePose_second) } /** - * @note test calculation correctness when bounding boxes are disjoint + * @note Test calculation correctness when bounding boxes are disjoint. */ TEST_F(PoseTest, boundingBoxRelativePose_disjoint) { const auto pose_relative = makePose(makePoint(0.1108, -20.5955, 0.0)); const auto from = makePose(makePoint(81600.3967, 50094.4298, 34.6759)); const auto to = makePose(makePoint(81604.5076, 50071.8343, 40.8482)); - const auto boundingBox = makeBoundingBox(); + const auto bounding_box = makeBoundingBox(); const auto relative = - traffic_simulator::pose::boundingBoxRelativePose(from, boundingBox, to, boundingBox); + traffic_simulator::pose::boundingBoxRelativePose(from, bounding_box, to, bounding_box); ASSERT_TRUE(relative.has_value()); EXPECT_POSE_NEAR(pose_relative, relative.value(), 0.01); } /** - * @note test calculation correctness when bounding boxes share an edge + * @note Test calculation correctness when bounding boxes share an edge. */ TEST_F(PoseTest, boundingBoxRelativePose_commonEdge) { const auto from = makePose(makePoint(81600, 50094, 34)); const auto to = makePose(makePoint(81601, 50094, 34)); - const auto boundingBox = makeSmallBoundingBox(); + const auto bounding_box = makeSmallBoundingBox(); const auto relative = - traffic_simulator::pose::boundingBoxRelativePose(from, boundingBox, to, boundingBox); + traffic_simulator::pose::boundingBoxRelativePose(from, bounding_box, to, bounding_box); EXPECT_FALSE(relative.has_value()); } /** - * @note test calculation correctness when bounding boxes intersect + * @note Test calculation correctness when bounding boxes intersect. */ TEST_F(PoseTest, boundingBoxRelativePose_intersect) { const auto from = makePose(makePoint(81600, 50094, 34)); const auto to = makePose(makePoint(81600.5, 50094, 34)); - const auto boundingBox = makeSmallBoundingBox(); + const auto bounding_box = makeSmallBoundingBox(); const auto relative = - traffic_simulator::pose::boundingBoxRelativePose(from, boundingBox, to, boundingBox); + traffic_simulator::pose::boundingBoxRelativePose(from, bounding_box, to, bounding_box); EXPECT_FALSE(relative.has_value()); } /** - * @note test s-value calculation correctness when longitudinal distance between the poses can not be calculated + * @note Test s-value calculation correctness when longitudinal distance between the poses can not be calculated. */ TEST_F(PoseTest, relativeLaneletPose_s_invalid) { @@ -425,11 +425,11 @@ TEST_F(PoseTest, relativeLaneletPose_s_invalid) const auto relative = traffic_simulator::pose::relativeLaneletPose(from, to, false, hdmap_utils); - EXPECT_TRUE(isnan(relative.s)); + EXPECT_TRUE(std::isnan(relative.s)); } /** - * @note test s-value calculation correctness when longitudinal distance between the poses can be calculated + * @note Test s-value calculation correctness when longitudinal distance between the poses can be calculated. */ TEST_F(PoseTest, relativeLaneletPose_s_valid) { @@ -444,7 +444,7 @@ TEST_F(PoseTest, relativeLaneletPose_s_valid) } /** - * @note test offset-value calculation correctness when lateral distance between the poses can not be calculated + * @note Test offset-value calculation correctness when lateral distance between the poses can not be calculated. */ TEST_F(PoseTest, relativeLaneletPose_offset_invalid) { @@ -455,11 +455,11 @@ TEST_F(PoseTest, relativeLaneletPose_offset_invalid) const auto relative = traffic_simulator::pose::relativeLaneletPose(from, to, false, hdmap_utils); - EXPECT_TRUE(isnan(relative.offset)); + EXPECT_TRUE(std::isnan(relative.offset)); } /** - * @note test offset-value calculation correctness when lateral distance between the poses can be calculated + * @note Test offset-value calculation correctness when lateral distance between the poses can be calculated. */ TEST_F(PoseTest, relativeLaneletPose_offset_valid) { @@ -474,7 +474,7 @@ TEST_F(PoseTest, relativeLaneletPose_offset_valid) } /** - * @note test s-value calculation correctness when longitudinal distance between the poses can not be calculated + * @note Test s-value calculation correctness when longitudinal distance between the poses can not be calculated. */ TEST_F(PoseTest, boundingBoxRelativeLaneletPose_s_invalid) { @@ -482,16 +482,16 @@ TEST_F(PoseTest, boundingBoxRelativeLaneletPose_s_invalid) traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); const auto to = traffic_simulator::helper::constructCanonicalizedLaneletPose(196, 0.0, 1.0, hdmap_utils); - const auto boundingBox = makeBoundingBox(); + const auto bounding_box = makeBoundingBox(); const auto relative = traffic_simulator::pose::boundingBoxRelativeLaneletPose( - from, boundingBox, to, boundingBox, false, hdmap_utils); + from, bounding_box, to, bounding_box, false, hdmap_utils); - EXPECT_TRUE(isnan(relative.s)); + EXPECT_TRUE(std::isnan(relative.s)); } /** - * @note test s-value calculation correctness when longitudinal distance between the poses can be calculated + * @note Test s-value calculation correctness when longitudinal distance between the poses can be calculated. */ TEST_F(PoseTest, boundingBoxRelativeLaneletPose_s_valid) { @@ -499,16 +499,16 @@ TEST_F(PoseTest, boundingBoxRelativeLaneletPose_s_valid) traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); const auto to = traffic_simulator::helper::constructCanonicalizedLaneletPose(3002163, 0.0, 0.0, hdmap_utils); - const auto boundingBox = makeBoundingBox(); + const auto bounding_box = makeBoundingBox(); const auto relative = traffic_simulator::pose::boundingBoxRelativeLaneletPose( - from, boundingBox, to, boundingBox, false, hdmap_utils); + from, bounding_box, to, bounding_box, false, hdmap_utils); EXPECT_NEAR(relative.s, 103.74, 0.01); } /** - * @note test offset-value calculation correctness when lateral distance between the poses can not be calculated + * @note Test offset-value calculation correctness when lateral distance between the poses can not be calculated. */ TEST_F(PoseTest, boundingBoxRelativeLaneletPose_offset_invalid) { @@ -516,16 +516,16 @@ TEST_F(PoseTest, boundingBoxRelativeLaneletPose_offset_invalid) traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); const auto to = traffic_simulator::helper::constructCanonicalizedLaneletPose(196, 0.0, 1.0, hdmap_utils); - const auto boundingBox = makeBoundingBox(); + const auto bounding_box = makeBoundingBox(); const auto relative = traffic_simulator::pose::boundingBoxRelativeLaneletPose( - from, boundingBox, to, boundingBox, false, hdmap_utils); + from, bounding_box, to, bounding_box, false, hdmap_utils); - EXPECT_TRUE(isnan(relative.s)); + EXPECT_TRUE(std::isnan(relative.s)); } /** - * @note test offset-value calculation correctness when lateral distance between the poses can be calculated + * @note Test offset-value calculation correctness when lateral distance between the poses can be calculated. */ TEST_F(PoseTest, boundingBoxRelativeLaneletPose_offset_valid) { @@ -533,16 +533,16 @@ TEST_F(PoseTest, boundingBoxRelativeLaneletPose_offset_valid) traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, -1.0, hdmap_utils); const auto to = traffic_simulator::helper::constructCanonicalizedLaneletPose(3002163, 0.0, 1.0, hdmap_utils); - const auto boundingBox = makeBoundingBox(); + const auto bounding_box = makeBoundingBox(); const auto relative = traffic_simulator::pose::boundingBoxRelativeLaneletPose( - from, boundingBox, to, boundingBox, false, hdmap_utils); + from, bounding_box, to, bounding_box, false, hdmap_utils); EXPECT_EQ(relative.offset, 0.0); } /** - * @note test calculation correctness when the pose lies within the lanelet + * @note Test calculation correctness when the pose lies within the lanelet. */ TEST_F(PoseTest, isInLanelet_inside) { @@ -553,7 +553,7 @@ TEST_F(PoseTest, isInLanelet_inside) } /** - * @note test calculation correctness when the pose lies outside the front of the llanelet, distance greater than the tolerance + * @note Test calculation correctness when the pose lies outside the front of the lanelet, distance greater than the tolerance. */ TEST_F(PoseTest, isInLanelet_outsideFrontFar) { @@ -564,7 +564,7 @@ TEST_F(PoseTest, isInLanelet_outsideFrontFar) } /** - * @note test calculation correctness when the pose lies outside the front of the llanelet, distance smaller than the tolerance + * @note Test calculation correctness when the pose lies outside the front of the lanelet, distance smaller than the tolerance. */ TEST_F(PoseTest, isInLanelet_outsideFrontClose) { @@ -575,7 +575,7 @@ TEST_F(PoseTest, isInLanelet_outsideFrontClose) } /** - * @note test calculation correctness when the pose lies outside the back of the llanelet, distance greater than the tolerance + * @note Test calculation correctness when the pose lies outside the back of the lanelet, distance greater than the tolerance. */ TEST_F(PoseTest, isInLanelet_outsideBackFar) { @@ -586,7 +586,7 @@ TEST_F(PoseTest, isInLanelet_outsideBackFar) } /** - * @note test calculation correctness when the pose lies outside the back of the lanelet, distance smaller than the tolerance + * @note Test calculation correctness when the pose lies outside the back of the lanelet, distance smaller than the tolerance. */ TEST_F(PoseTest, isInLanelet_outsideBackClose) { @@ -597,7 +597,7 @@ TEST_F(PoseTest, isInLanelet_outsideBackClose) } /** - * @note test calculation correctness when there are no following lanelets and the pose lies within the lanelet + * @note Test calculation correctness when there are no following lanelets and the pose lies within the lanelet. */ TEST_F(PoseTest, isAtEndOfLanelets_noFollowing_within) { @@ -608,7 +608,7 @@ TEST_F(PoseTest, isAtEndOfLanelets_noFollowing_within) } /** - * @note test calculation correctness when there is a single following lanelet and the pose lies within the lanelet + * @note Test calculation correctness when there is a single following lanelet and the pose lies within the lanelet. */ TEST_F(PoseTest, isAtEndOfLanelets_singleFollowing_within) { @@ -619,7 +619,7 @@ TEST_F(PoseTest, isAtEndOfLanelets_singleFollowing_within) } /** - * @note test calculation correctness when there is a signle following lanelet and the pose lies after the end of the lanelet + * @note Test calculation correctness when there is a signle following lanelet and the pose lies after the end of the lanelet. */ TEST_F(PoseTest, isAtEndOfLanelets_singleFollowing_outside) { @@ -630,7 +630,7 @@ TEST_F(PoseTest, isAtEndOfLanelets_singleFollowing_outside) } /** - * @note test calculation correctness when there are multiple following lanelets and the pose lies within the lanelet + * @note Test calculation correctness when there are multiple following lanelets and the pose lies within the lanelet. */ TEST_F(PoseTest, isAtEndOfLanelets_multipleFollowing_within) { @@ -641,7 +641,7 @@ TEST_F(PoseTest, isAtEndOfLanelets_multipleFollowing_within) } /** - * @note test calculation correctness when there are multiple following lanelets and the pose lies after the end of the lanelet + * @note Test calculation correctness when there are multiple following lanelets and the pose lies after the end of the lanelet. */ TEST_F(PoseTest, isAtEndOfLanelets_multipleFollowing_outside) { @@ -652,7 +652,7 @@ TEST_F(PoseTest, isAtEndOfLanelets_multipleFollowing_outside) } /** - * @note test function behavior when non existent lanelet::Id has been passed + * @note Test function behavior when non existent lanelet::Id has been passed. */ TEST_F(PoseTest, laneletLength_invalid) { @@ -661,7 +661,7 @@ TEST_F(PoseTest, laneletLength_invalid) } /** - * @note test calculation correctness when a correct lanelet::Id has been passed + * @note Test calculation correctness when a correct lanelet::Id has been passed. */ TEST_F(PoseTest, laneletLength_valid) { From 7d8cdc1f0aa0083d9aa361728237d272b801d0ca Mon Sep 17 00:00:00 2001 From: Release Bot Date: Tue, 10 Sep 2024 04:29:03 +0000 Subject: [PATCH 238/304] Bump version of scenario_simulator_v2 from version 4.2.0 to version 4.2.1 --- common/math/arithmetic/CHANGELOG.rst | 3 +++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 3 +++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 3 +++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 3 +++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 3 +++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 3 +++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 3 +++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 3 +++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 3 +++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 3 +++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 3 +++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 3 +++ .../openscenario_interpreter_example/package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 3 +++ .../openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 3 +++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 3 +++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 3 +++ openscenario/openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 3 +++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 3 +++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 6 ++++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 3 +++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 3 +++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 3 +++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 3 +++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 12 ++++++++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 3 +++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 3 +++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 3 +++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 128 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index f93617fd14f..ada96ba019d 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 39519d462a0..ecc5b159eda 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.2.0 + 4.2.1 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 40505bb1888..cfb4e74f618 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index aebfc75ff48..2e4d8903e86 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.2.0 + 4.2.1 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 38462336a04..9a73bcf2d37 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index edd7e147791..10e83d35f6d 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.2.0 + 4.2.1 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 e7311df3b5c..d6bb515de90 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 06585618cec..698f4663cdf 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.2.0 + 4.2.1 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 bdfd65dcb5f..890e0cf6554 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 98585d9bea1..9ba065144fa 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.2.0 + 4.2.1 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index d59a67dfa40..5e9d240adb3 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ * Merge pull request `#1362 `_ from tier4/feature/ros2-parameter-forwarding diff --git a/external/concealer/package.xml b/external/concealer/package.xml index cfcaf051652..62a6fca68cc 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.2.0 + 4.2.1 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 cdb962aeb46..79db7206c7f 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index d2d07f80f0b..399446daa27 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.2.0 + 4.2.1 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 e784fe07292..cd6f5f3fa00 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 60835697fe0..02af3dfe663 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.2.0 + 4.2.1 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 c494e9d2080..1517df254c6 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,9 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 0f54737183a..c009da3e6d6 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.2.0 + 4.2.1 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 98c71a7a5f8..75b73636c61 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index ff478f05e7f..86a60b4d94a 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.2.0 + 4.2.1 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 8cdb221e4e9..bc6b5d4874f 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 98afcc38fa2..d773d677134 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.2.0 + 4.2.1 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 b9c5aafe459..c5bfb1048a7 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,9 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 5a1379176d5..539783042b5 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.2.0 + 4.2.1 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 525d22ee2a8..dd25ebdd35a 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 813cfc0bda9..7c373b60b86 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.2.0 + 4.2.1 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 55c6684f8db..95e5fc5b575 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 813d66ec4e7..c1025e473c9 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.2.0 + 4.2.1 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 e96fd8fcf07..73b87ba08c6 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index f44e74303d3..07427ad9ebd 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.2.0 + 4.2.1 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 33356a19cf0..e17db512c53 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 51db6a0bb77..81ef27144ac 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.2.0 + 4.2.1 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 3af8959cc64..64418d56389 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 2c9309a5a49..0452c65e4bc 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.2.0 + 4.2.1 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 c8771876622..4974c949cd8 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,9 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 46f34489fd5..fcac94a008d 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.2.0 + 4.2.1 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 bd02b1875ab..bb7e779a749 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index fde305cd15b..e0017d0932a 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.2.0 + 4.2.1 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 ba6cca5ae93..1a6ab678121 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 +21,9 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ 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 2201e871651..0e20f10e230 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 - 4.2.0 + 4.2.1 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 bf0064df433..fb4b6a60a67 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,12 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ +* Spelling changes +* Lint changes +* Contributors: Grzegorz Maj + 4.2.0 (2024-09-09) ------------------ diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 005b42bc240..49d9a805b00 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.2.0 + 4.2.1 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 884cd2681dd..7ef537a12f5 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 0280fa610b5..efc1477f574 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.2.0 + 4.2.1 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 ffac7c9ebd4..cf2746a65ae 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 22eda8d1269..af96fccbee9 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.2.0 + 4.2.1 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 a967312719b..46f0089d1ce 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index fba1b6b8bf2..d343fdf9bca 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.2.0 + 4.2.1 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index e77441ef241..edd30f08fc8 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 996dd089d0b..400517c47f5 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.2.0 + 4.2.1 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 1a61d823f75..21f22614cfc 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ +* Merge pull request `#1367 `_ from tier4/RJD-1197/canonicalized_lanelet_pose + Rjd 1197/canonicalized lanelet pose +* Spelling changes +* Lint changes +* Change assert check from bool to has_value +* Change invalid test cases to more obvious values +* Unit tests review changes +* CanonicalizedLaneletPose unit tests +* Contributors: Grzegorz Maj, Masaya Kataoka + 4.2.0 (2024-09-09) ------------------ * Merge pull request `#1362 `_ from tier4/feature/ros2-parameter-forwarding diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index c08ba92d91d..5dd00456acb 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.2.0 + 4.2.1 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index b615cb5b853..803f9924925 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index e70bf444879..ae8c2b46276 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.2.0 + 4.2.1 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 c02728d68e2..b37aebab5e6 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index d7cc7c7ca4c..8366b28e337 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.2.0 + 4.2.1 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 0e9d8b7395a..056c894558c 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,9 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.1 (2024-09-10) +------------------ + 4.2.0 (2024-09-09) ------------------ * Merge pull request `#1362 `_ from tier4/feature/ros2-parameter-forwarding diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index f4146f760a5..f62735450fa 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.2.0 + 4.2.1 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 846960fdfddb37d3df2963b0c7fd96e25e11cbf2 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 10 Sep 2024 12:55:46 +0900 Subject: [PATCH 239/304] fix: load necessary parameters Signed-off-by: satoshi-ota --- .../launch/mock_test.launch.py | 289 +++++++++++------- 1 file changed, 184 insertions(+), 105 deletions(-) diff --git a/mock/cpp_mock_scenarios/launch/mock_test.launch.py b/mock/cpp_mock_scenarios/launch/mock_test.launch.py index d976cf696ac..ee9f40194ef 100644 --- a/mock/cpp_mock_scenarios/launch/mock_test.launch.py +++ b/mock/cpp_mock_scenarios/launch/mock_test.launch.py @@ -30,7 +30,7 @@ from launch.events import Shutdown from launch.event_handlers import OnProcessExit, OnProcessIO -from launch.actions import EmitEvent, RegisterEventHandler, LogInfo, TimerAction +from launch.actions import EmitEvent, RegisterEventHandler, LogInfo, TimerAction, OpaqueFunction from launch.actions.declare_launch_argument import DeclareLaunchArgument from launch.substitutions.launch_configuration import LaunchConfiguration @@ -40,7 +40,6 @@ from pathlib import Path - class Color: BLACK = "\033[30m" RED = "\033[31m" @@ -70,113 +69,193 @@ def on_stdout_output(event: launch.Event) -> None: if lines[0] == "cpp_scenario:success": print(Color.GREEN + "Scenario Succeed" + Color.END) +def architecture_types(): + return ["awf/universe", "awf/universe/20230906"] -def generate_launch_description(): - timeout = LaunchConfiguration("timeout", default=10.0) - scenario = LaunchConfiguration("scenario", default="") - scenario_package = LaunchConfiguration("package", default="cpp_mock_scenarios") - junit_path = LaunchConfiguration("junit_path", default="/tmp/output.xunit.xml") - launch_rviz = LaunchConfiguration("launch_rviz", default=False) - vehicle_model = LaunchConfiguration("vehicle_model", default="sample_vehicle") - sensor_model = LaunchConfiguration("sensor_model", default="sample_sensor_kit") - consider_pose_by_road_slope = LaunchConfiguration("consider_pose_by_road_slope", default=True) - scenario_node = Node( - package=scenario_package, - executable=scenario, - name="scenario_node", - output="screen", - arguments=[("__log_level:=info")], - parameters=[ - { - "junit_path": junit_path, - "timeout": timeout, - "architecture_type": "awf/universe", - "autoware_launch_file": "planning_simulator.launch.xml", - "autoware_launch_package": "autoware_launch", - "launch_autoware": True, - "vehicle_model": vehicle_model, - "sensor_model": sensor_model, - "initialize_duration": 900, - "consider_pose_by_road_slope": consider_pose_by_road_slope - } - ], - ) + +def default_autoware_launch_package_of(architecture_type): + if architecture_type not in architecture_types(): + raise KeyError( + f"architecture_type := {architecture_type} is not supported. Choose one of {architecture_types()}." + ) + return { + "awf/universe": "autoware_launch", + "awf/universe/20230906": "autoware_launch", + }[architecture_type] + + +def default_autoware_launch_file_of(architecture_type): + if architecture_type not in architecture_types(): + raise KeyError( + f"architecture_type := {architecture_type} is not supported. Choose one of {architecture_types()}." + ) + return { + "awf/universe": "planning_simulator.launch.xml", + "awf/universe/20230906": "planning_simulator.launch.xml", + }[architecture_type] + + +def launch_setup(context, *args, **kwargs): + # fmt: off + architecture_type = LaunchConfiguration("architecture_type", default="awf/universe/20230906") + autoware_launch_file = LaunchConfiguration("autoware_launch_file", default=default_autoware_launch_file_of(architecture_type.perform(context))) + autoware_launch_package = LaunchConfiguration("autoware_launch_package", default=default_autoware_launch_package_of(architecture_type.perform(context))) + consider_acceleration_by_road_slope = LaunchConfiguration("consider_acceleration_by_road_slope", default=False) + consider_pose_by_road_slope = LaunchConfiguration("consider_pose_by_road_slope", default=True) + global_frame_rate = LaunchConfiguration("global_frame_rate", default=30.0) + global_real_time_factor = LaunchConfiguration("global_real_time_factor", default=1.0) + global_timeout = LaunchConfiguration("global_timeout", default=180) + initialize_duration = LaunchConfiguration("initialize_duration", default=300) + launch_autoware = LaunchConfiguration("launch_autoware", default=True) + launch_rviz = LaunchConfiguration("launch_rviz", default=False) + launch_simple_sensor_simulator = LaunchConfiguration("launch_simple_sensor_simulator", default=True) + output_directory = LaunchConfiguration("output_directory", default=Path("/tmp")) + port = LaunchConfiguration("port", default=5555) + publish_empty_context = LaunchConfiguration("publish_empty_context", default=False) + record = LaunchConfiguration("record", default=False) + rviz_config = LaunchConfiguration("rviz_config", default="") + scenario = LaunchConfiguration("scenario", default=Path("/dev/null")) + sensor_model = LaunchConfiguration("sensor_model", default="") + sigterm_timeout = LaunchConfiguration("sigterm_timeout", default=8) + use_sim_time = LaunchConfiguration("use_sim_time", default=False) + vehicle_model = LaunchConfiguration("vehicle_model", default="") + scenario_package = LaunchConfiguration("package", default="cpp_mock_scenarios") + junit_path = LaunchConfiguration("junit_path", default="/tmp/output.xunit.xml") + # fmt: on + + print(f"architecture_type := {architecture_type.perform(context)}") + print(f"autoware_launch_file := {autoware_launch_file.perform(context)}") + print(f"autoware_launch_package := {autoware_launch_package.perform(context)}") + print(f"consider_acceleration_by_road_slope := {consider_acceleration_by_road_slope.perform(context)}") + print(f"consider_pose_by_road_slope := {consider_pose_by_road_slope.perform(context)}") + print(f"global_frame_rate := {global_frame_rate.perform(context)}") + print(f"global_real_time_factor := {global_real_time_factor.perform(context)}") + print(f"global_timeout := {global_timeout.perform(context)}") + print(f"initialize_duration := {initialize_duration.perform(context)}") + print(f"launch_autoware := {launch_autoware.perform(context)}") + print(f"launch_rviz := {launch_rviz.perform(context)}") + print(f"output_directory := {output_directory.perform(context)}") + print(f"port := {port.perform(context)}") + print(f"publish_empty_context := {publish_empty_context.perform(context)}") + print(f"record := {record.perform(context)}") + print(f"rviz_config := {rviz_config.perform(context)}") + print(f"scenario := {scenario.perform(context)}") + print(f"sensor_model := {sensor_model.perform(context)}") + print(f"sigterm_timeout := {sigterm_timeout.perform(context)}") + print(f"use_sim_time := {use_sim_time.perform(context)}") + print(f"vehicle_model := {vehicle_model.perform(context)}") + print(f"scenario_package := {scenario_package.perform(context)}") + print(f"junit_path := {junit_path.perform(context)}") + + def make_parameters(): + parameters = [ + {"architecture_type": architecture_type}, + {"autoware_launch_file": autoware_launch_file}, + {"autoware_launch_package": autoware_launch_package}, + {"consider_acceleration_by_road_slope": consider_acceleration_by_road_slope}, + {"consider_pose_by_road_slope": consider_pose_by_road_slope}, + {"initialize_duration": initialize_duration}, + {"launch_autoware": launch_autoware}, + {"port": port}, + {"publish_empty_context" : publish_empty_context}, + {"record": record}, + {"rviz_config": rviz_config}, + {"sensor_model": sensor_model}, + {"sigterm_timeout": sigterm_timeout}, + {"vehicle_model": vehicle_model}, + {"global_real_time_factor": global_real_time_factor}, + {"global_frame_rate": global_frame_rate}, + {"global_timeout": global_timeout}, + ] + parameters += make_vehicle_parameters() + return parameters + + def make_vehicle_parameters(): + parameters = [] + + def description(): + return get_package_share_directory( + vehicle_model.perform(context) + "_description" + ) + + if vehicle_model.perform(context): + parameters.append(description() + "/config/vehicle_info.param.yaml") + parameters.append(description() + "/config/simulator_model.param.yaml") + return parameters + + cpp_scenario_node = Node( + package=scenario_package, + executable=scenario, + name="scenario_node", + output="screen", + arguments=[("__log_level:=info")], + parameters=make_parameters() + [{"use_sim_time": use_sim_time}], + ) io_handler = OnProcessIO( - target_action=scenario_node, + target_action=cpp_scenario_node, on_stderr=on_stderr_output, on_stdout=on_stdout_output, ) shutdown_handler = OnProcessExit( - target_action=scenario_node, on_exit=[EmitEvent(event=Shutdown())] + target_action=cpp_scenario_node, on_exit=[EmitEvent(event=Shutdown())] ) - description = LaunchDescription( - [ - DeclareLaunchArgument( - "scenario", default_value=scenario, description="Name of the scenario." - ), - DeclareLaunchArgument( - "package", - default_value=scenario_package, - description="Name of package your scenario exists", - ), - DeclareLaunchArgument( - "timeout", default_value=timeout, description="Timeout in seconds." - ), - DeclareLaunchArgument( - "junit_path", - default_value=junit_path, - description="Path of the junit output.", - ), - DeclareLaunchArgument( - "launch_rviz", - default_value=launch_rviz, - description="If true, launch with rviz.", - ), - DeclareLaunchArgument( - "vehicle_model", - default_value=vehicle_model, - description="Vehicle model of the Autoware", - ), - DeclareLaunchArgument( - "sensor_model", - default_value=sensor_model, - description="Sensor model of the Autoware", - ), - DeclareLaunchArgument( - "consider_pose_by_road_slope", - default_value=consider_pose_by_road_slope , - description="Consideration of lanelet slope in matching position", - ), - scenario_node, - RegisterEventHandler(event_handler=io_handler), - RegisterEventHandler(event_handler=shutdown_handler), - Node( - package="simple_sensor_simulator", - executable="simple_sensor_simulator_node", - name="simple_sensor_simulator_node", - output="log", - arguments=[("__log_level:=warn")], - ), - Node( - package="traffic_simulator", - executable="visualization_node", - name="visualizer", - output="screen", - ), - Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output={"stderr": "log", "stdout": "log"}, - condition=IfCondition(launch_rviz), - arguments=[ - "-d", - str( - Path(get_package_share_directory("cpp_mock_scenarios")) - / "rviz/mock_test.rviz" - ), - ], - ), - ] - ) - return description + + return [ + # fmt: off + DeclareLaunchArgument("architecture_type", default_value=architecture_type ), + DeclareLaunchArgument("autoware_launch_file", default_value=autoware_launch_file ), + DeclareLaunchArgument("autoware_launch_package", default_value=autoware_launch_package ), + DeclareLaunchArgument("consider_acceleration_by_road_slope", default_value=consider_acceleration_by_road_slope), + DeclareLaunchArgument("consider_pose_by_road_slope", default_value=consider_pose_by_road_slope ), + DeclareLaunchArgument("global_frame_rate", default_value=global_frame_rate ), + DeclareLaunchArgument("global_real_time_factor", default_value=global_real_time_factor ), + DeclareLaunchArgument("global_timeout", default_value=global_timeout ), + DeclareLaunchArgument("launch_autoware", default_value=launch_autoware ), + DeclareLaunchArgument("launch_rviz", default_value=launch_rviz ), + DeclareLaunchArgument("publish_empty_context", default_value=publish_empty_context ), + DeclareLaunchArgument("output_directory", default_value=output_directory ), + DeclareLaunchArgument("rviz_config", default_value=rviz_config ), + DeclareLaunchArgument("scenario", default_value=scenario ), + DeclareLaunchArgument("sensor_model", default_value=sensor_model ), + DeclareLaunchArgument("sigterm_timeout", default_value=sigterm_timeout ), + DeclareLaunchArgument("use_sim_time", default_value=use_sim_time ), + DeclareLaunchArgument("vehicle_model", default_value=vehicle_model ), + DeclareLaunchArgument("scenario_package", default_value=scenario_package ), + DeclareLaunchArgument("junit_path", default_value=junit_path ), + # fmt: on + cpp_scenario_node, + Node( + package="simple_sensor_simulator", + executable="simple_sensor_simulator_node", + namespace="simulation", + output="screen", + parameters=make_parameters() + [{"use_sim_time": use_sim_time}], + condition=IfCondition(launch_simple_sensor_simulator), + ), + Node( + package="traffic_simulator", + executable="visualization_node", + namespace="simulation", + name="visualizer", + output="screen", + ), + Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output={"stderr": "log", "stdout": "log"}, + condition=IfCondition(launch_rviz), + arguments=[ + "-d", + str( + Path(get_package_share_directory("traffic_simulator")) + / "config/scenario_simulator_v2.rviz" + ), + ], + ), + RegisterEventHandler(event_handler=io_handler), + RegisterEventHandler(event_handler=shutdown_handler), + ] + +def generate_launch_description(): + return LaunchDescription([OpaqueFunction(function=launch_setup)]) From 2e3adec88d6b51cd2b94565d26ce1759276b963f Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 10 Sep 2024 12:50:19 +0900 Subject: [PATCH 240/304] fix: make it possible to change hard-coded parameters Signed-off-by: satoshi-ota --- mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp index 47ca8c25d98..7335d528091 100644 --- a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp +++ b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp @@ -22,7 +22,10 @@ CppScenarioNode::CppScenarioNode( const std::string & lanelet2_map_file, const std::string & scenario_filename, const bool verbose, const rclcpp::NodeOptions & option) : Node(node_name, option), - api_(this, configure(map_path, lanelet2_map_file, scenario_filename, verbose), 1.0, 20), + api_( + this, configure(map_path, lanelet2_map_file, scenario_filename, verbose), + declare_parameter("global_real_time_factor", 1.0), + declare_parameter("global_frame_rate", 20.0)), scenario_filename_(scenario_filename), exception_expect_(false) { From a8b8a602b9a919f95ca3c20711405af6d3bef8d8 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 10 Sep 2024 13:16:27 +0900 Subject: [PATCH 241/304] fix: use global timeout Signed-off-by: satoshi-ota --- .../include/cpp_mock_scenarios/cpp_scenario_node.hpp | 2 +- mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/mock/cpp_mock_scenarios/include/cpp_mock_scenarios/cpp_scenario_node.hpp b/mock/cpp_mock_scenarios/include/cpp_mock_scenarios/cpp_scenario_node.hpp index aa7df2b5dea..4d1141c8fc7 100644 --- a/mock/cpp_mock_scenarios/include/cpp_mock_scenarios/cpp_scenario_node.hpp +++ b/mock/cpp_mock_scenarios/include/cpp_mock_scenarios/cpp_scenario_node.hpp @@ -68,7 +68,7 @@ class CppScenarioNode : public rclcpp::Node virtual void onUpdate() = 0; virtual void onInitialize() = 0; rclcpp::TimerBase::SharedPtr update_timer_; - double timeout_; + int timeout_; auto configure( const std::string & map_path, const std::string & lanelet2_map_file, const std::string & scenario_filename, const bool verbose) -> traffic_simulator::Configuration diff --git a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp index 7335d528091..70559cab61e 100644 --- a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp +++ b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp @@ -31,8 +31,8 @@ CppScenarioNode::CppScenarioNode( { declare_parameter("junit_path", "/tmp"); get_parameter("junit_path", junit_path_); - declare_parameter("timeout", 10.0); - get_parameter("timeout", timeout_); + declare_parameter("global_timeout", 10.0); + get_parameter("global_timeout", timeout_); traffic_simulator::lanelet_pose::CanonicalizedLaneletPose::setConsiderPoseByRoadSlope([&]() { if (not has_parameter("consider_pose_by_road_slope")) { From 33a329d1bdf669b0ae07200eb0a2ce5618b7b686 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Tue, 10 Sep 2024 04:32:36 +0000 Subject: [PATCH 242/304] Bump version of scenario_simulator_v2 from version 4.2.1 to version 4.2.2 --- common/math/arithmetic/CHANGELOG.rst | 8 ++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 43 +++++++++++++++++++ common/math/geometry/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++ .../scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 8 ++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 8 ++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 8 ++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 8 ++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 8 ++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 8 ++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 8 ++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++ .../package.xml | 2 +- .../openscenario_interpreter/CHANGELOG.rst | 8 ++++ .../openscenario_interpreter/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++ .../package.xml | 2 +- .../CHANGELOG.rst | 8 ++++ .../openscenario_interpreter_msgs/package.xml | 2 +- .../openscenario_preprocessor/CHANGELOG.rst | 8 ++++ .../openscenario_preprocessor/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++ .../package.xml | 2 +- .../openscenario_utility/CHANGELOG.rst | 8 ++++ openscenario/openscenario_utility/package.xml | 2 +- .../openscenario_validator/CHANGELOG.rst | 8 ++++ .../openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 8 ++++ .../openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 8 ++++ .../package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 8 ++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 8 ++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 8 ++++ simulation/do_nothing_plugin/package.xml | 2 +- .../simple_sensor_simulator/CHANGELOG.rst | 8 ++++ .../simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 8 ++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 8 ++++ simulation/traffic_simulator/package.xml | 2 +- .../traffic_simulator_msgs/CHANGELOG.rst | 8 ++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 8 ++++ test_runner/random_test_runner/package.xml | 2 +- .../scenario_test_runner/CHANGELOG.rst | 8 ++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 296 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index ada96ba019d..7c95d4238bb 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index ecc5b159eda..225fcd9dfe5 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.2.1 + 4.2.2 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 cfb4e74f618..ed87df592b4 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 +4.2.2 (2024-09-10) +------------------ +* Merge pull request `#1341 `_ from tier4/RJD-1278/geometry-update + Rjd 1278/geometry update +* Merge branch 'master' into RJD-1278/geometry-update +* updates after merge +* update testcase +* remove empty line +* isIntersect2D_collinear +* refactor toPolygon2D tests +* add comments +* bounding_box clean up +* clean up vector3 +* rename tests in HermiteCurve +* rename tests in CatmullRomSpline +* quaternion operators +* tune down numbers +* sort tests, rm old duplicate +* getIntersection2D function +* getIntersection2DSValue and isIntersect2D functions +* getPose, getPoint refactor +* add a proper structure to the test files +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* update testcase +* remove empty line +* isIntersect2D_collinear +* Merge branch 'master' into RJD-1278/geometry-update +* refactor toPolygon2D tests +* add comments +* bounding_box clean up +* clean up vector3 +* rename tests in HermiteCurve +* rename tests in CatmullRomSpline +* quaternion operators +* tune down numbers +* sort tests, rm old duplicate +* getIntersection2D function +* getIntersection2DSValue and isIntersect2D functions +* getPose, getPoint refactor +* add a proper structure to the test files +* Contributors: Masaya Kataoka, Michał Ciasnocha, robomic + 4.2.1 (2024-09-10) ------------------ diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 2e4d8903e86..2d29d6f85f1 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.2.1 + 4.2.2 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 9a73bcf2d37..554de126098 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 10e83d35f6d..ef3fd96b1eb 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.2.1 + 4.2.2 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 d6bb515de90..3ae5e0e607e 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 698f4663cdf..52b345ecc29 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.2.1 + 4.2.2 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 890e0cf6554..977da120e29 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 9ba065144fa..6e9f7ddfe55 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.2.1 + 4.2.2 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 5e9d240adb3..182b8a56937 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 62a6fca68cc..ff2fb906b99 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.2.1 + 4.2.2 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 79db7206c7f..fac779b36c5 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,14 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 399446daa27..009829846a5 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.2.1 + 4.2.2 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 cd6f5f3fa00..ba56daf1487 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 02af3dfe663..69327d2912f 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.2.1 + 4.2.2 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 1517df254c6..34c60095023 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,14 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index c009da3e6d6..e0702113e58 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.2.1 + 4.2.2 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 75b73636c61..5cf1013e47f 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 86a60b4d94a..0fea79cf6ed 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.2.1 + 4.2.2 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 bc6b5d4874f..94d30305999 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index d773d677134..14926ad4413 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.2.1 + 4.2.2 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 c5bfb1048a7..0d6f45fa1d2 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,14 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 539783042b5..22f7cb5e429 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.2.1 + 4.2.2 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 dd25ebdd35a..bdcf97388e2 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 7c373b60b86..6ada7470f7b 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.2.1 + 4.2.2 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 95e5fc5b575..d59b9fa3a77 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index c1025e473c9..d3e550e165e 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.2.1 + 4.2.2 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 73b87ba08c6..41fb89b0237 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 07427ad9ebd..068ed93f7cb 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.2.1 + 4.2.2 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 e17db512c53..09161cd0b25 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 81ef27144ac..47c97df09ee 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.2.1 + 4.2.2 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 64418d56389..56fddf8f088 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,14 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 0452c65e4bc..e8cb1ec2f27 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.2.1 + 4.2.2 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 4974c949cd8..c30c56dc4f7 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,14 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index fcac94a008d..f70cd8b863f 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.2.1 + 4.2.2 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 bb7e779a749..79a3ab603c2 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index e0017d0932a..4b3ead15e69 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.2.1 + 4.2.2 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 1a6ab678121..faa54eacf67 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 +21,14 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ 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 0e20f10e230..7c13c86f6fd 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 - 4.2.1 + 4.2.2 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 fb4b6a60a67..24f7862fafa 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ * Spelling changes diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 49d9a805b00..283519dc6a6 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.2.1 + 4.2.2 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 7ef537a12f5..4e250c4642c 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index efc1477f574..e67b4a928e7 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.2.1 + 4.2.2 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 cf2746a65ae..933d7bc003a 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index af96fccbee9..32673e7fe19 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.2.1 + 4.2.2 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 46f0089d1ce..507f914cbf5 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index d343fdf9bca..ed4fdbe2a13 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.2.1 + 4.2.2 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index edd30f08fc8..b1f379c1363 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 400517c47f5..0ef989cf9e4 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.2.1 + 4.2.2 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 21f22614cfc..4dff0674c5a 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ * Merge pull request `#1367 `_ from tier4/RJD-1197/canonicalized_lanelet_pose diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 5dd00456acb..8d8b2179152 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.2.1 + 4.2.2 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 803f9924925..8110567b39d 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index ae8c2b46276..7e5ea839962 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.2.1 + 4.2.2 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 b37aebab5e6..a2314170a07 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,14 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 8366b28e337..da86fefa1a6 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.2.1 + 4.2.2 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 056c894558c..34bfae961dc 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,14 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.2 (2024-09-10) +------------------ +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Merge branch 'master' into RJD-1278/geometry-update +* Contributors: Masaya Kataoka, Michał Ciasnocha + 4.2.1 (2024-09-10) ------------------ diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index f62735450fa..991162b345d 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.2.1 + 4.2.2 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From e34573261b6cfea7a385383506685f85fca3560f Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 10 Sep 2024 14:34:32 +0900 Subject: [PATCH 243/304] Add new test scenario `RoutingAction.AcquirePositionAction-continuous` Signed-off-by: yamacir-kit --- ...tion.AcquirePositionAction-continuous.yaml | 188 ++++++++++++++++++ 1 file changed, 188 insertions(+) create mode 100644 test_runner/scenario_test_runner/scenario/RoutingAction.AcquirePositionAction-continuous.yaml diff --git a/test_runner/scenario_test_runner/scenario/RoutingAction.AcquirePositionAction-continuous.yaml b/test_runner/scenario_test_runner/scenario/RoutingAction.AcquirePositionAction-continuous.yaml new file mode 100644 index 00000000000..76d8f4388b3 --- /dev/null +++ b/test_runner/scenario_test_runner/scenario/RoutingAction.AcquirePositionAction-continuous.yaml @@ -0,0 +1,188 @@ +OpenSCENARIO: + FileHeader: + author: 'Tatsuya Yamasaki' + date: '1970-01-01T09:00:00+09:00' + description: '' + revMajor: 1 + revMinor: 0 + ParameterDeclarations: + ParameterDeclaration: [] + CatalogLocations: + VehicleCatalog: + Directory: + path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle + RoadNetwork: + LogicFile: + filepath: $(ros2 pkg prefix --share kashiwanoha_map)/map + Entities: + ScenarioObject: + - name: ego + CatalogReference: + catalogName: sample_vehicle + entryName: sample_vehicle + ObjectController: + Controller: + name: 'Autoware' + Properties: + Property: [] + Storyboard: + Init: + Actions: + Private: + - entityRef: ego + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: '34513' + s: 1 + offset: 0 + Orientation: &DEFAULT_ORIENTATION + type: relative + h: 0 + p: 0 + r: 0 + - RoutingAction: + AcquirePositionAction: + Position: &DESTINATION_1 + LanePosition: + roadId: '' + laneId: '34510' + s: 1 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + Story: + - name: '' + Act: + - name: '' + ManeuverGroup: + - maximumExecutionCount: 1 + name: '' + Actors: + selectTriggeringEntities: false + EntityRef: + - entityRef: ego + Maneuver: + - name: '' + Event: + - name: '' + priority: parallel + Action: + - name: '' + PrivateAction: + - RoutingAction: + AcquirePositionAction: + Position: &DESTINATION_2 + LanePosition: + roadId: '' + laneId: '34507' + s: 50 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: ego + EntityCondition: + SpeedCondition: + rule: equalTo + value: 0 + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: ego.currentState + rule: equalTo + value: WAITING_FOR_ROUTE + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: ego + EntityCondition: + ReachPositionCondition: + Position: *DESTINATION_1 + tolerance: 1 + - name: _EndCondition + ManeuverGroup: + - maximumExecutionCount: 1 + name: '' + Actors: + selectTriggeringEntities: false + EntityRef: + - entityRef: ego + Maneuver: + - name: '' + Event: + - name: '' + priority: parallel + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: ego + EntityCondition: + ReachPositionCondition: + Position: + LanePosition: + roadId: '' + laneId: '34507' + s: 50 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + tolerance: 0.5 + Action: + - name: '' + UserDefinedAction: + CustomCommandAction: + type: exitSuccess + - name: '' + priority: parallel + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 180 + rule: greaterThan + Action: + - name: '' + UserDefinedAction: + CustomCommandAction: + type: exitFailure + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 0 + rule: greaterThan + StopTrigger: + ConditionGroup: [] From c61459c480b8de2b182c2b3d3853625a814ff766 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 10 Sep 2024 15:09:10 +0900 Subject: [PATCH 244/304] Update `AcquirePositionAction` to request route clearing before applying Signed-off-by: yamacir-kit --- .../include/openscenario_interpreter/simulator_core.hpp | 5 +++-- .../include/traffic_simulator/entity/entity_base.hpp | 4 ++-- simulation/traffic_simulator/src/entity/entity_base.cpp | 7 ------- 3 files changed, 5 insertions(+), 11 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp index fc3a3f9edb6..4caf8c82bfb 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp @@ -284,9 +284,10 @@ class SimulatorCore { protected: template - static auto applyAcquirePositionAction(Ts &&... xs) + static auto applyAcquirePositionAction(const std::string & entity_ref, Ts &&... xs) { - return core->requestAcquirePosition(std::forward(xs)...); + core->requestClearRoute(entity_ref); + return core->requestAcquirePosition(entity_ref, std::forward(xs)...); } template diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp index c29eddf5722..6516f9665c4 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp @@ -141,7 +141,7 @@ class EntityBase virtual void requestAssignRoute(const std::vector &) = 0; - virtual void requestLaneChange(const lanelet::Id){}; + virtual void requestLaneChange(const lanelet::Id) {} virtual void requestLaneChange(const traffic_simulator::lane_change::Parameter &){}; @@ -164,7 +164,7 @@ class EntityBase virtual void requestSpeedChange(const speed_change::RelativeTargetSpeed &, bool); - virtual void requestClearRoute(); + virtual void requestClearRoute() {} virtual auto isControlledBySimulator() const -> bool; diff --git a/simulation/traffic_simulator/src/entity/entity_base.cpp b/simulation/traffic_simulator/src/entity/entity_base.cpp index ff4b43a4b0f..a25d8fb9b7f 100644 --- a/simulation/traffic_simulator/src/entity/entity_base.cpp +++ b/simulation/traffic_simulator/src/entity/entity_base.cpp @@ -218,13 +218,6 @@ void EntityBase::requestSpeedChangeWithConstantAcceleration( } } -void EntityBase::requestClearRoute() -{ - THROW_SEMANTIC_ERROR( - "requestClearRoute is only supported for EgoEntity. The specified Entity is not an EgoEntity. " - "Please check the scenario carefully."); -} - void EntityBase::requestSpeedChangeWithTimeConstraint( const double target_speed, const speed_change::Transition transition, double acceleration_time) { From 3045ccdd19320588ef28118c1c08b515785ef9f6 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 10 Sep 2024 15:35:19 +0900 Subject: [PATCH 245/304] fix: missing param Signed-off-by: satoshi-ota --- mock/cpp_mock_scenarios/launch/mock_test.launch.py | 1 + 1 file changed, 1 insertion(+) diff --git a/mock/cpp_mock_scenarios/launch/mock_test.launch.py b/mock/cpp_mock_scenarios/launch/mock_test.launch.py index ee9f40194ef..9086c0910e6 100644 --- a/mock/cpp_mock_scenarios/launch/mock_test.launch.py +++ b/mock/cpp_mock_scenarios/launch/mock_test.launch.py @@ -166,6 +166,7 @@ def make_parameters(): {"global_real_time_factor": global_real_time_factor}, {"global_frame_rate": global_frame_rate}, {"global_timeout": global_timeout}, + {"junit_path": junit_path}, ] parameters += make_vehicle_parameters() return parameters From 4b79839b430b228108e50af5ef67748c59bf3797 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 10 Sep 2024 15:55:29 +0900 Subject: [PATCH 246/304] fix: set default rviz config Signed-off-by: satoshi-ota --- mock/cpp_mock_scenarios/launch/mock_test.launch.py | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/mock/cpp_mock_scenarios/launch/mock_test.launch.py b/mock/cpp_mock_scenarios/launch/mock_test.launch.py index 9086c0910e6..7d298ed0721 100644 --- a/mock/cpp_mock_scenarios/launch/mock_test.launch.py +++ b/mock/cpp_mock_scenarios/launch/mock_test.launch.py @@ -94,6 +94,8 @@ def default_autoware_launch_file_of(architecture_type): "awf/universe/20230906": "planning_simulator.launch.xml", }[architecture_type] +def default_rviz_config_file(): + return Path(get_package_share_directory("traffic_simulator")) / "config/scenario_simulator_v2.rviz" def launch_setup(context, *args, **kwargs): # fmt: off @@ -113,7 +115,7 @@ def launch_setup(context, *args, **kwargs): port = LaunchConfiguration("port", default=5555) publish_empty_context = LaunchConfiguration("publish_empty_context", default=False) record = LaunchConfiguration("record", default=False) - rviz_config = LaunchConfiguration("rviz_config", default="") + rviz_config = LaunchConfiguration("rviz_config", default=default_rviz_config_file()) scenario = LaunchConfiguration("scenario", default=Path("/dev/null")) sensor_model = LaunchConfiguration("sensor_model", default="") sigterm_timeout = LaunchConfiguration("sigterm_timeout", default=8) @@ -246,13 +248,7 @@ def description(): name="rviz2", output={"stderr": "log", "stdout": "log"}, condition=IfCondition(launch_rviz), - arguments=[ - "-d", - str( - Path(get_package_share_directory("traffic_simulator")) - / "config/scenario_simulator_v2.rviz" - ), - ], + arguments=["-d", str(default_rviz_config_file())], ), RegisterEventHandler(event_handler=io_handler), RegisterEventHandler(event_handler=shutdown_handler), From ae824022e4fd0e1136b085f13f403326d0f04c19 Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Tue, 10 Sep 2024 09:33:46 +0200 Subject: [PATCH 247/304] CR requested changes part 2 --- .../test/src/utils/test_pose.cpp | 19 ++++++++++--------- 1 file changed, 10 insertions(+), 9 deletions(-) diff --git a/simulation/traffic_simulator/test/src/utils/test_pose.cpp b/simulation/traffic_simulator/test/src/utils/test_pose.cpp index 5834df083b6..fcbe0acf606 100644 --- a/simulation/traffic_simulator/test/src/utils/test_pose.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_pose.cpp @@ -163,7 +163,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_noBoundingBox_noRoute_valid) */ TEST_F(PoseTest, toCanonicalizedLaneletPose_noBoundingBox_noRoute_invalid) { - const geometry_msgs::msg::Pose pose = makePose(makePoint(0, 0, 0)); + const geometry_msgs::msg::Pose pose = makePose(makePoint(0.0, 0.0, 0.0)); EXPECT_EQ( traffic_simulator::pose::toCanonicalizedLaneletPose(pose, true, hdmap_utils), std::nullopt); @@ -210,7 +210,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_noRoute_invalid) */ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyInvalid) { - const geometry_msgs::msg::Pose pose = makePose(makePoint(0, 0, 0)); + const geometry_msgs::msg::Pose pose = makePose(makePoint(0.0, 0.0, 0.0)); EXPECT_EQ( traffic_simulator::pose::toCanonicalizedLaneletPose( @@ -229,7 +229,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyValid) const geometry_msgs::msg::Pose pose = static_cast(lanelet_pose); const auto canonicalized_pose = traffic_simulator::pose::toCanonicalizedLaneletPose( - pose, makeBoundingBox(), {}, true, 1.0, hdmap_utils); + pose, makeBoundingBox(), lanelet::Ids{}, true, 1.0, hdmap_utils); ASSERT_TRUE(canonicalized_pose.has_value()); EXPECT_POSE_NEAR(pose, static_cast(canonicalized_pose.value()), 0.01); @@ -243,7 +243,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyValid) */ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyInvalid) { - const geometry_msgs::msg::Pose pose = makePose(makePoint(0, 0, 0)); + const geometry_msgs::msg::Pose pose = makePose(makePoint(0.0, 0.0, 0.0)); EXPECT_EQ( traffic_simulator::pose::toCanonicalizedLaneletPose( @@ -262,7 +262,7 @@ TEST_F(PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyValid) const geometry_msgs::msg::Pose pose = static_cast(lanelet_pose); const auto canonicalized_pose = traffic_simulator::pose::toCanonicalizedLaneletPose( - pose, makeBoundingBox(), {195}, true, 1.0, hdmap_utils); + pose, makeBoundingBox(), lanelet::Ids{195}, true, 1.0, hdmap_utils); ASSERT_TRUE(canonicalized_pose.has_value()); EXPECT_POSE_NEAR(pose, static_cast(canonicalized_pose.value()), 0.01); @@ -549,7 +549,8 @@ TEST_F(PoseTest, isInLanelet_inside) const auto pose = traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 0.0, 0.0, hdmap_utils); - EXPECT_TRUE(traffic_simulator::pose::isInLanelet(pose, 195, 0, hdmap_utils)); + EXPECT_TRUE(traffic_simulator::pose::isInLanelet( + pose, 195, std::numeric_limits::epsilon(), hdmap_utils)); } /** @@ -560,7 +561,7 @@ TEST_F(PoseTest, isInLanelet_outsideFrontFar) const auto pose = traffic_simulator::helper::constructCanonicalizedLaneletPose(3002163, -10.0, 0.0, hdmap_utils); - EXPECT_FALSE(traffic_simulator::pose::isInLanelet(pose, 3002163, 1, hdmap_utils)); + EXPECT_FALSE(traffic_simulator::pose::isInLanelet(pose, 3002163, 1.0, hdmap_utils)); } /** @@ -571,7 +572,7 @@ TEST_F(PoseTest, isInLanelet_outsideFrontClose) const auto pose = traffic_simulator::helper::constructCanonicalizedLaneletPose(3002163, -1.0, 0.0, hdmap_utils); - EXPECT_TRUE(traffic_simulator::pose::isInLanelet(pose, 3002163, 2, hdmap_utils)); + EXPECT_TRUE(traffic_simulator::pose::isInLanelet(pose, 3002163, 2.0, hdmap_utils)); } /** @@ -593,7 +594,7 @@ TEST_F(PoseTest, isInLanelet_outsideBackClose) const auto pose = traffic_simulator::helper::constructCanonicalizedLaneletPose(195, 110.0, 0.0, hdmap_utils); - EXPECT_TRUE(traffic_simulator::pose::isInLanelet(pose, 195, 10, hdmap_utils)); + EXPECT_TRUE(traffic_simulator::pose::isInLanelet(pose, 195, 10.0, hdmap_utils)); } /** From 8c90aa41c63fdbaf7a1982e33697a9f768165800 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 10 Sep 2024 17:59:05 +0900 Subject: [PATCH 248/304] fix: global frame rate 30.0 -> 20.0 Signed-off-by: satoshi-ota --- mock/cpp_mock_scenarios/launch/mock_test.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mock/cpp_mock_scenarios/launch/mock_test.launch.py b/mock/cpp_mock_scenarios/launch/mock_test.launch.py index 7d298ed0721..0289e874095 100644 --- a/mock/cpp_mock_scenarios/launch/mock_test.launch.py +++ b/mock/cpp_mock_scenarios/launch/mock_test.launch.py @@ -104,7 +104,7 @@ def launch_setup(context, *args, **kwargs): autoware_launch_package = LaunchConfiguration("autoware_launch_package", default=default_autoware_launch_package_of(architecture_type.perform(context))) consider_acceleration_by_road_slope = LaunchConfiguration("consider_acceleration_by_road_slope", default=False) consider_pose_by_road_slope = LaunchConfiguration("consider_pose_by_road_slope", default=True) - global_frame_rate = LaunchConfiguration("global_frame_rate", default=30.0) + global_frame_rate = LaunchConfiguration("global_frame_rate", default=20.0) global_real_time_factor = LaunchConfiguration("global_real_time_factor", default=1.0) global_timeout = LaunchConfiguration("global_timeout", default=180) initialize_duration = LaunchConfiguration("initialize_duration", default=300) From a6a038358ae1f1a7a6d41adec7fbf723de29c56f Mon Sep 17 00:00:00 2001 From: Release Bot Date: Wed, 11 Sep 2024 02:50:24 +0000 Subject: [PATCH 249/304] Bump version of scenario_simulator_v2 from version 4.2.2 to version 4.2.3 --- common/math/arithmetic/CHANGELOG.rst | 3 +++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 3 +++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 3 +++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 3 +++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 3 +++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 3 +++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 3 +++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 3 +++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 3 +++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 12 ++++++++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 3 +++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 3 +++ .../openscenario_interpreter_example/package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 3 +++ .../openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 3 +++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 3 +++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 3 +++ openscenario/openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 3 +++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 3 +++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 3 +++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 3 +++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 3 +++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 3 +++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 3 +++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 3 +++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 3 +++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 3 +++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 3 +++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 125 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 7c95d4238bb..fd79e4bad12 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 225fcd9dfe5..f67cfd3e6d5 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.2.2 + 4.2.3 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 ed87df592b4..c8a162b4fcb 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge pull request `#1341 `_ from tier4/RJD-1278/geometry-update diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 2d29d6f85f1..e87d2b65d4f 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.2.2 + 4.2.3 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 554de126098..51b5f065bad 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index ef3fd96b1eb..17bb3cd129b 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.2.2 + 4.2.3 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 3ae5e0e607e..df19ee8bf21 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 52b345ecc29..8b646b6b552 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.2.2 + 4.2.3 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 977da120e29..3a0ed07dcfa 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 6e9f7ddfe55..239ad4b7930 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.2.2 + 4.2.3 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 182b8a56937..9f5aaf3c341 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/external/concealer/package.xml b/external/concealer/package.xml index ff2fb906b99..ea864a1988d 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.2.2 + 4.2.3 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 fac779b36c5..78065ef7226 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 009829846a5..e2d2cbcac44 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.2.2 + 4.2.3 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 ba56daf1487..cfed45d19b2 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 69327d2912f..8442aa21541 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.2.2 + 4.2.3 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 34c60095023..9fe9db19393 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,9 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index e0702113e58..483e01bb013 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.2.2 + 4.2.3 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 5cf1013e47f..e73e52e247e 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ +* Merge pull request `#1368 `_ from tier4/fix/mock-test-launch-test + fix: mock test launch +* fix: global frame rate 30.0 -> 20.0 +* fix: set default rviz config +* fix: missing param +* fix: use global timeout +* fix: make it possible to change hard-coded parameters +* fix: load necessary parameters +* Contributors: Masaya Kataoka, satoshi-ota + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 0fea79cf6ed..60a09d10358 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.2.2 + 4.2.3 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 94d30305999..d15e81f4922 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 14926ad4413..aaa3342b624 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.2.2 + 4.2.3 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 0d6f45fa1d2..4f2c1bafe04 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,9 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 22f7cb5e429..8ba2e126d37 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.2.2 + 4.2.3 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 bdcf97388e2..aef3a67cb19 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 6ada7470f7b..585e79d4b59 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.2.2 + 4.2.3 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 d59b9fa3a77..605c7dce33f 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index d3e550e165e..d50377f1bfb 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.2.2 + 4.2.3 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 41fb89b0237..1b5a3958a07 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 068ed93f7cb..0ce282b859e 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.2.2 + 4.2.3 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 09161cd0b25..fb7b3121a42 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 47c97df09ee..368876f8785 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.2.2 + 4.2.3 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 56fddf8f088..4550913ef69 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index e8cb1ec2f27..bf2f24bdd1d 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.2.2 + 4.2.3 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 c30c56dc4f7..e4f33e66c7a 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,9 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index f70cd8b863f..bda9faae864 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.2.2 + 4.2.3 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 79a3ab603c2..bd79e6827b4 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 4b3ead15e69..0893c14ad64 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.2.2 + 4.2.3 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 faa54eacf67..ec85a4ae875 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 +21,9 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update 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 7c13c86f6fd..da4ea4182c9 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 - 4.2.2 + 4.2.3 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 24f7862fafa..738acc323fa 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 283519dc6a6..21089550ebb 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.2.2 + 4.2.3 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 4e250c4642c..c7bd18c4095 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index e67b4a928e7..a38c59d4341 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.2.2 + 4.2.3 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 933d7bc003a..49d4418f896 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 32673e7fe19..b74f1f8e8e6 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.2.2 + 4.2.3 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 507f914cbf5..0e7965be548 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index ed4fdbe2a13..fd967ae57fe 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.2.2 + 4.2.3 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index b1f379c1363..cb6ffbab7d7 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 0ef989cf9e4..0ee98a1234d 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.2.2 + 4.2.3 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 4dff0674c5a..e8f9123c5bb 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 8d8b2179152..4ff8fbbf7ee 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.2.2 + 4.2.3 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 8110567b39d..0f8103e7f51 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 7e5ea839962..2ad55e91c58 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.2.2 + 4.2.3 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 a2314170a07..dc87c1eb409 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index da86fefa1a6..b6ad5fea61d 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.2.2 + 4.2.3 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 34bfae961dc..f016ec22577 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,9 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.3 (2024-09-11) +------------------ + 4.2.2 (2024-09-10) ------------------ * Merge branch 'master' into RJD-1278/geometry-update diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 991162b345d..76d630c1eaf 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.2.2 + 4.2.3 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 816603cd625965b12cb09395658a725ced4ddc00 Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Wed, 11 Sep 2024 06:50:11 +0200 Subject: [PATCH 250/304] Fix typos in comments --- simulation/traffic_simulator/test/src/utils/test_pose.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/simulation/traffic_simulator/test/src/utils/test_pose.cpp b/simulation/traffic_simulator/test/src/utils/test_pose.cpp index fcbe0acf606..843fd56d397 100644 --- a/simulation/traffic_simulator/test/src/utils/test_pose.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_pose.cpp @@ -313,7 +313,7 @@ TEST(pose, relativePose_poses_zero) } /** - * @note ttest calculation correctness with a non trivial example. + * @note Test calculation correctness with a non trivial example. */ TEST(pose, relativePose_poses_complex) { @@ -620,7 +620,7 @@ TEST_F(PoseTest, isAtEndOfLanelets_singleFollowing_within) } /** - * @note Test calculation correctness when there is a signle following lanelet and the pose lies after the end of the lanelet. + * @note Test calculation correctness when there is a single following lanelet and the pose lies after the end of the lanelet. */ TEST_F(PoseTest, isAtEndOfLanelets_singleFollowing_outside) { From 9d07e62f7754c644a87da91911b9df6833358539 Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Wed, 11 Sep 2024 12:36:23 +0200 Subject: [PATCH 251/304] docs: Update BuildInstructions.md - Added expected build result for colcon build command. - Updated instructions to provide clearer guidance through the process of building Scenario Simulator v2 (SS2). --- docs/image/build_success2.png | Bin 0 -> 22190 bytes docs/image/locale_verification.png | Bin 0 -> 51802 bytes docs/image/universe_repository_result.png | Bin 0 -> 129958 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(We are planning to support ROS 2 Humble Hawksbill) -You can install Galactic by executing the command below in your terminal. +1. **Configure the locale** + Ensure that your system is configured with a locale that supports UTF-8. + + ```bash + sudo apt update && sudo apt install locales + sudo locale-gen en_US en_US.UTF-8 + sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 + export LANG=en_US.UTF-8 + ``` + + Verify that the locale is properly set: + ```bash + locale + ``` + ![Verifying Locale](../image/locale_verification.png) + *The expected result after running the `locale` command should look like this, with **LANG** set to **en_US.UTF-8**.* + +2. **Enable the Ubuntu Universe repository** + Run the following commands to enable the Universe repository: + + ```bash + sudo apt install software-properties-common + sudo add-apt-repository universe + ``` + + ![Adding Universe Repository](../image/universe_repository_result.png) + *The expected result after running `sudo add-apt-repository universe`.* + +3. **Add the ROS 2 GPG key** + Install `curl` and add the ROS 2 GPG key to your system: + + ```bash + sudo apt update && sudo apt install curl -y + sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg + ``` + +4. **Add the ROS 2 repository to the system's package sources list** + This command adds the ROS 2 repository to the system’s package sources list, enabling access to ROS 2 packages: + + ```bash + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null + ``` + +5. **Install ROS 2 Humble Desktop** + Update the apt cache and install ROS 2 Humble with the following command: + + ```bash + sudo apt update + sudo apt install ros-humble-desktop + ``` + +6. **Install development tools** + Install the development tools needed to build ROS packages: + + ```bash + sudo apt install ros-dev-tools + ``` +> **Reference:** [ROS 2 Humble Installation Guide](https://docs.ros.org/en/humble/Installation.html) +--- -```bash -sudo apt update -sudo apt install locales -sudo locale-gen en_US en_US.UTF-8 -sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 -export LANG=en_US.UTF-8 -sudo apt update -sudo apt install curl gnupg2 lsb-release -curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - -sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' -sudo apt update -sudo apt install ros-humble-desktop -source /opt/ros/humble/setup.bash -sudo apt install -y python3-pip python3-rosdep2 python3-vcstool python3-colcon-common-extensions -rosdep update -``` -reference : ## Setup workspace -```bash -mkdir -p ~/scenario_simulator_ws/src -cd ~/scenario_simulator_ws/src -git clone https://github.com/tier4/scenario_simulator_v2.git -# These lines are necessary right now, but it will be removed in the near future -cd scenario_simulator_v2 -# This script clones the part of the source codes in Autoware and add it to the workspace -vcs import external < dependency_humble.repos -``` +1. **Create the workspace directory** + + ```bash + mkdir -p ~/scenario_simulator_ws/src + cd ~/scenario_simulator_ws/src + ``` + +2. **Clone the Scenario Simulator repository** + + ```bash + git clone https://github.com/tier4/scenario_simulator_v2.git + cd scenario_simulator_v2 + ``` + +3. **Import Autoware dependencies** + + ```bash + vcs import external < dependency_humble.repos + ``` +--- ## Install dependencies via rosdep -```bash -cd ~/scenario_simulator_ws -source /opt/ros/humble/setup.bash -rosdep install -iry --from-paths src/scenario_simulator_v2 --rosdistro humble -``` +1. **Move to the workspace directory** + Before installing dependencies, navigate to the workspace directory where **Scenario Simulator v2** is located: -## Build scenario_simulator_v2 + ```bash + cd ~/scenario_simulator_ws + ``` + +2. **Source the ROS 2 environment** + Make sure the ROS 2 environment is properly sourced by running: + + ```bash + source /opt/ros/humble/setup.bash + ``` +3. **Install all required dependencies** + Use `rosdep` to install all dependencies required for **Scenario Simulator v2**: + + ```bash + rosdep install -iry --from-paths src/scenario_simulator_v2 --rosdistro humble + ``` +--- + +## Build scenario_simulator_v2 +To build **Scenario Simulator v2**, run this command: ```bash colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release ``` +![Build Success](../image/build_success2.png) +*The expected result after running `colcon build` should display a message confirming a successful build.* \ No newline at end of file From 28915d790e037a571d63de329be941c52104491a Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Wed, 11 Sep 2024 12:59:13 +0200 Subject: [PATCH 253/304] docs: Update BuildInstructions.md --- docs/user_guide/BuildInstructions.md | 5 ----- 1 file changed, 5 deletions(-) diff --git a/docs/user_guide/BuildInstructions.md b/docs/user_guide/BuildInstructions.md index 42845d5fc6c..c28f8cecbf9 100644 --- a/docs/user_guide/BuildInstructions.md +++ b/docs/user_guide/BuildInstructions.md @@ -2,8 +2,6 @@ These setup instructions guide you through the process of building **Scenario Simulator v2**, which currently supports **ROS 2 Humble Hawksbill**. ---- - ## Setup ROS 2 environment 1. **Configure the locale** @@ -64,7 +62,6 @@ These setup instructions guide you through the process of building **Scenario Si sudo apt install ros-dev-tools ``` > **Reference:** [ROS 2 Humble Installation Guide](https://docs.ros.org/en/humble/Installation.html) ---- ## Setup workspace @@ -87,7 +84,6 @@ These setup instructions guide you through the process of building **Scenario Si ```bash vcs import external < dependency_humble.repos ``` ---- ## Install dependencies via rosdep @@ -111,7 +107,6 @@ These setup instructions guide you through the process of building **Scenario Si ```bash rosdep install -iry --from-paths src/scenario_simulator_v2 --rosdistro humble ``` ---- ## Build scenario_simulator_v2 To build **Scenario Simulator v2**, run this command: From 06465ccb1d427ec7a11c84f5d57abd3a148150be Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Wed, 11 Sep 2024 13:03:09 +0200 Subject: [PATCH 254/304] docs: Update BuildInstructions.md - Added a new line at the end of the file --- docs/user_guide/BuildInstructions.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/user_guide/BuildInstructions.md b/docs/user_guide/BuildInstructions.md index c28f8cecbf9..6ef6230a6a6 100644 --- a/docs/user_guide/BuildInstructions.md +++ b/docs/user_guide/BuildInstructions.md @@ -114,4 +114,4 @@ To build **Scenario Simulator v2**, run this command: colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release ``` ![Build Success](../image/build_success2.png) -*The expected result after running `colcon build` should display a message confirming a successful build.* \ No newline at end of file +*The expected result after running `colcon build` should display a message confirming a successful build.* From 50f9222c283c12f2a5e26cd088ab2887cefbd8e4 Mon Sep 17 00:00:00 2001 From: XiaoyuWang0601 Date: Thu, 12 Sep 2024 15:26:51 +0900 Subject: [PATCH 255/304] fix: install add_cpp_mock_scenario_test.cmake first, or build won't pass --- mock/cpp_mock_scenarios/CMakeLists.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/mock/cpp_mock_scenarios/CMakeLists.txt b/mock/cpp_mock_scenarios/CMakeLists.txt index 84a18e37be7..669465e6482 100644 --- a/mock/cpp_mock_scenarios/CMakeLists.txt +++ b/mock/cpp_mock_scenarios/CMakeLists.txt @@ -64,6 +64,9 @@ endif() install( DIRECTORY launch rviz DESTINATION share/${PROJECT_NAME}) +install( + FILES cmake/add_cpp_mock_scenario_test.cmake + DESTINATION share/${PROJECT_NAME}/cmake) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) From edf52957fe74fdf688a1c3644c99350494bccc2f Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Thu, 12 Sep 2024 07:25:43 +0000 Subject: [PATCH 256/304] doc: fix architecture_type in documentation --- docs/user_guide/QuickStart.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/user_guide/QuickStart.md b/docs/user_guide/QuickStart.md index 1203f12df49..56bb42778bf 100644 --- a/docs/user_guide/QuickStart.md +++ b/docs/user_guide/QuickStart.md @@ -65,7 +65,7 @@ This document contains step-by-step instruction on how to build and run [AWF Aut #### scenario_test_runner ```bash ros2 launch scenario_test_runner scenario_test_runner.launch.py \ - architecture_type:=awf/universe \ + architecture_type:=awf/universe/20230906 \ record:=false \ scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \ sensor_model:=sample_sensor_kit \ @@ -75,7 +75,7 @@ This document contains step-by-step instruction on how to build and run [AWF Aut #### random_test_runner ```bash ros2 launch random_test_runner random_test.launch.py \ - architecture_type:=awf/universe \ + architecture_type:=awf/universe/20230906 \ sensor_model:=sample_sensor_kit \ vehicle_model:=sample_vehicle ``` From 5740aa4f45cb5f2d9661c716217dba403313f0ea Mon Sep 17 00:00:00 2001 From: Release Bot Date: Thu, 12 Sep 2024 08:57:17 +0000 Subject: [PATCH 257/304] Bump version of scenario_simulator_v2 from version 4.2.3 to version 4.2.4 --- common/math/arithmetic/CHANGELOG.rst | 3 +++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 3 +++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 3 +++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 3 +++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 3 +++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 3 +++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 3 +++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 3 +++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 3 +++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 3 +++ mock/cpp_mock_scenarios/package.xml | 2 +- openscenario/openscenario_experimental_catalog/CHANGELOG.rst | 3 +++ openscenario/openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter/package.xml | 2 +- openscenario/openscenario_interpreter_example/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_example/package.xml | 2 +- openscenario/openscenario_interpreter_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor/package.xml | 2 +- openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 3 +++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 3 +++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 3 +++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../real_time_factor_control_rviz_plugin/CHANGELOG.rst | 3 +++ rviz_plugins/real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 3 +++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 3 +++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 3 +++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 3 +++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 3 +++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 3 +++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 3 +++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 3 +++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 3 +++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 116 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index fd79e4bad12..0812c8d344c 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index f67cfd3e6d5..dedd48a5205 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.2.3 + 4.2.4 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 c8a162b4fcb..9ed062f33cf 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index e87d2b65d4f..9fc27e2f994 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.2.3 + 4.2.4 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 51b5f065bad..60ea49ae64a 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 17bb3cd129b..4e446fbd3de 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.2.3 + 4.2.4 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 df19ee8bf21..3852989aa47 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 8b646b6b552..8d130590fc9 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.2.3 + 4.2.4 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 3a0ed07dcfa..5f889127dd5 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 239ad4b7930..67f9c9ca118 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.2.3 + 4.2.4 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 9f5aaf3c341..359c2ddacd8 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/external/concealer/package.xml b/external/concealer/package.xml index ea864a1988d..1c7dddc5d7f 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.2.3 + 4.2.4 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 78065ef7226..68cfbf7a078 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index e2d2cbcac44..7d4e8ea8e4b 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.2.3 + 4.2.4 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 cfed45d19b2..66d819a7149 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 8442aa21541..b282ae09300 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.2.3 + 4.2.4 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 9fe9db19393..e50a2bb6d24 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,9 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 483e01bb013..e9718313746 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.2.3 + 4.2.4 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 e73e52e247e..0af95e62029 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ * Merge pull request `#1368 `_ from tier4/fix/mock-test-launch-test diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 60a09d10358..c417eb9e07d 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.2.3 + 4.2.4 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 d15e81f4922..af0ef196625 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index aaa3342b624..5069270d319 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.2.3 + 4.2.4 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 4f2c1bafe04..4853d958587 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,9 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 8ba2e126d37..9c34db6aa73 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.2.3 + 4.2.4 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 aef3a67cb19..0d8a8c28fdc 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 585e79d4b59..77bd1d6f96d 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.2.3 + 4.2.4 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 605c7dce33f..618ada540b1 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index d50377f1bfb..551aec033b8 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.2.3 + 4.2.4 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 1b5a3958a07..ecab3cb174f 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 0ce282b859e..a8cb4fe6958 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.2.3 + 4.2.4 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 fb7b3121a42..f5115de4002 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 368876f8785..6668ee204c4 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.2.3 + 4.2.4 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 4550913ef69..22e2f71af03 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index bf2f24bdd1d..89e4941879e 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.2.3 + 4.2.4 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 e4f33e66c7a..9a749463a89 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,9 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index bda9faae864..6ef0a343a72 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.2.3 + 4.2.4 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 bd79e6827b4..9a0d1705d1e 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 0893c14ad64..589d454f0a2 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.2.3 + 4.2.4 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 ec85a4ae875..4167ed89c31 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 +21,9 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ 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 da4ea4182c9..5241b815471 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 - 4.2.3 + 4.2.4 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 738acc323fa..6266f4590c9 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 21089550ebb..839855315d9 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.2.3 + 4.2.4 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 c7bd18c4095..5ae4eb6d887 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index a38c59d4341..6517e5c8d69 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.2.3 + 4.2.4 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 49d4418f896..96457e13608 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index b74f1f8e8e6..e1af53d0e9f 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.2.3 + 4.2.4 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 0e7965be548..78bc0b1f978 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index fd967ae57fe..be150b832a6 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.2.3 + 4.2.4 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index cb6ffbab7d7..8cfe366c7e7 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 0ee98a1234d..7f366a46793 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.2.3 + 4.2.4 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 e8f9123c5bb..6b3fa410146 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 4ff8fbbf7ee..e92380cef6a 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.2.3 + 4.2.4 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 0f8103e7f51..2fbd24e12bb 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 2ad55e91c58..c6c4bc942bd 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.2.3 + 4.2.4 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 dc87c1eb409..bd3b00143da 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index b6ad5fea61d..4f7a6d0ca7c 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.2.3 + 4.2.4 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 f016ec22577..5722598381e 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,9 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.4 (2024-09-12) +------------------ + 4.2.3 (2024-09-11) ------------------ diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 76d630c1eaf..1f02d6ad762 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.2.3 + 4.2.4 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From deb3e05248a6b778eaf9d0eb74de61853f18f3c6 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Thu, 12 Sep 2024 08:59:41 +0000 Subject: [PATCH 258/304] Bump version of scenario_simulator_v2 from version 4.2.4 to version 4.2.5 --- common/math/arithmetic/CHANGELOG.rst | 3 +++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 3 +++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 3 +++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 3 +++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 3 +++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 3 +++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 3 +++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 3 +++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 3 +++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 7 +++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 3 +++ openscenario/openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_example/package.xml | 2 +- openscenario/openscenario_interpreter_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor/package.xml | 2 +- openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 3 +++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 3 +++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 3 +++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../real_time_factor_control_rviz_plugin/CHANGELOG.rst | 3 +++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 3 +++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 3 +++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 3 +++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 3 +++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 3 +++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 3 +++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 3 +++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 3 +++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 3 +++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 120 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index 0812c8d344c..d7a29893e86 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index dedd48a5205..88b3fe97051 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.2.4 + 4.2.5 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 9ed062f33cf..a217b54bdfd 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 9fc27e2f994..8d7f2ba65ec 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.2.4 + 4.2.5 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 60ea49ae64a..17fbfa2c75f 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 4e446fbd3de..7fe20b1548b 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.2.4 + 4.2.5 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 3852989aa47..f85b4bd0661 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 8d130590fc9..e7e2f31c693 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.2.4 + 4.2.5 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 5f889127dd5..c400af7386a 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 67f9c9ca118..d3edea8c479 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.2.4 + 4.2.5 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 359c2ddacd8..62bdddbb613 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 1c7dddc5d7f..013840213cd 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.2.4 + 4.2.5 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 68cfbf7a078..a4b10b817d9 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 7d4e8ea8e4b..638bf8ab53d 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.2.4 + 4.2.5 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 66d819a7149..5f3b0760b8a 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index b282ae09300..7cdb2fd892b 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.2.4 + 4.2.5 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 e50a2bb6d24..b76707ceff8 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,9 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index e9718313746..0fdb585a731 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.2.4 + 4.2.5 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 0af95e62029..9c8bce49f06 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ +* Merge pull request `#1373 `_ from tier4/fix/colcon_build_error_furthermore + fix: install add_cpp_mock_scenario_test.cmake first, or colcon build won't pass +* fix: install add_cpp_mock_scenario_test.cmake first, or build won't pass +* Contributors: Masaya Kataoka, XiaoyuWang0601 + 4.2.4 (2024-09-12) ------------------ diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index c417eb9e07d..6e9270a030f 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.2.4 + 4.2.5 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 af0ef196625..bea5f9f1a52 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 5069270d319..b20a1a446a9 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.2.4 + 4.2.5 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 4853d958587..96465f9138b 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,9 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 9c34db6aa73..6afec9f0261 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.2.4 + 4.2.5 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 0d8a8c28fdc..cdce7fb5205 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 77bd1d6f96d..a198937c5ed 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.2.4 + 4.2.5 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 618ada540b1..20d14b6686b 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 551aec033b8..95ecc9359b4 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.2.4 + 4.2.5 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 ecab3cb174f..15f31957d52 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index a8cb4fe6958..2746f2c95c2 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.2.4 + 4.2.5 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 f5115de4002..f8203512908 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 6668ee204c4..f38d83f0b2d 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.2.4 + 4.2.5 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 22e2f71af03..84083f58a50 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 89e4941879e..5b5c8914dea 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.2.4 + 4.2.5 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 9a749463a89..926a119cfa1 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,9 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 6ef0a343a72..37350a6a76c 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.2.4 + 4.2.5 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 9a0d1705d1e..209a8f4be8f 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 589d454f0a2..458b89ee890 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.2.4 + 4.2.5 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 4167ed89c31..5128104bb4c 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 +21,9 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ 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 5241b815471..d2b1d90a7c2 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 - 4.2.4 + 4.2.5 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 6266f4590c9..6e6d7364c7d 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 839855315d9..782eda0da2f 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.2.4 + 4.2.5 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 5ae4eb6d887..0643dfcfdab 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 6517e5c8d69..fb87f0aed9a 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.2.4 + 4.2.5 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 96457e13608..8a3255c7f63 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index e1af53d0e9f..2a62bd160fa 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.2.4 + 4.2.5 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 78bc0b1f978..e36da68a953 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index be150b832a6..2577d3eeefc 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.2.4 + 4.2.5 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 8cfe366c7e7..c6cad508735 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 7f366a46793..ca5afc050c4 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.2.4 + 4.2.5 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 6b3fa410146..d3cf5191c14 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index e92380cef6a..86dd23e340a 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.2.4 + 4.2.5 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 2fbd24e12bb..bf58991cf79 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index c6c4bc942bd..38503ce6845 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.2.4 + 4.2.5 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 bd3b00143da..1803a4a44cf 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 4f7a6d0ca7c..a9ebfec6973 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.2.4 + 4.2.5 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 5722598381e..95d775687b4 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,9 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.5 (2024-09-12) +------------------ + 4.2.4 (2024-09-12) ------------------ diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index 1f02d6ad762..b32d9b41730 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.2.4 + 4.2.5 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From ff030b15359bbb7c99db59ef092173fcf9f88133 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Thu, 12 Sep 2024 18:21:38 +0900 Subject: [PATCH 259/304] Update the scenario to drive laps around the closed route Signed-off-by: yamacir-kit --- .../storyboard_element_state_condition.cpp | 2 +- ...tion.AcquirePositionAction-continuous.yaml | 170 ++++++++++++++---- 2 files changed, 137 insertions(+), 35 deletions(-) diff --git a/openscenario/openscenario_interpreter/src/syntax/storyboard_element_state_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/storyboard_element_state_condition.cpp index bcdf30c71d8..5d8758f5ca1 100644 --- a/openscenario/openscenario_interpreter/src/syntax/storyboard_element_state_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/storyboard_element_state_condition.cpp @@ -38,7 +38,7 @@ StoryboardElementStateCondition::StoryboardElementStateCondition( Note that there is no guarantee that the StoryboardElement will remain in the same state as when the notification is made until StoryboardElementStateCondition::evaluate is executed after the callback - is called. The In other words, the StoryboardElement may immediately + is called. In other words, the StoryboardElement may immediately transition to the next state after calling the callback function. */ diff --git a/test_runner/scenario_test_runner/scenario/RoutingAction.AcquirePositionAction-continuous.yaml b/test_runner/scenario_test_runner/scenario/RoutingAction.AcquirePositionAction-continuous.yaml index 76d8f4388b3..db959904eb2 100644 --- a/test_runner/scenario_test_runner/scenario/RoutingAction.AcquirePositionAction-continuous.yaml +++ b/test_runner/scenario_test_runner/scenario/RoutingAction.AcquirePositionAction-continuous.yaml @@ -6,7 +6,10 @@ OpenSCENARIO: revMajor: 1 revMinor: 0 ParameterDeclarations: - ParameterDeclaration: [] + ParameterDeclaration: + - name: laps + parameterType: unsignedInt + value: 3 CatalogLocations: VehicleCatalog: Directory: @@ -32,7 +35,7 @@ OpenSCENARIO: - entityRef: ego PrivateAction: - TeleportAction: - Position: + Position: &INITIAL_POSITION LanePosition: roadId: '' laneId: '34513' @@ -45,17 +48,17 @@ OpenSCENARIO: r: 0 - RoutingAction: AcquirePositionAction: - Position: &DESTINATION_1 + Position: &POSITION_A LanePosition: roadId: '' - laneId: '34510' + laneId: '34681' s: 1 offset: 0 Orientation: *DEFAULT_ORIENTATION Story: - name: '' Act: - - name: '' + - name: loop ManeuverGroup: - maximumExecutionCount: 1 name: '' @@ -65,24 +68,106 @@ OpenSCENARIO: - entityRef: ego Maneuver: - name: '' + ParameterDeclarations: + ParameterDeclaration: + - name: current_destination + parameterType: string + value: position_a Event: - - name: '' + - maximumExecutionCount: $laps + name: '' + priority: parallel + Action: + - name: '' + PrivateAction: + - RoutingAction: + AcquirePositionAction: + Position: *POSITION_A + - name: '' + GlobalAction: + ParameterAction: + parameterRef: current_destination + SetAction: + value: position_a + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: ego + EntityCondition: + ReachPositionCondition: + Position: &POSITION_B + LanePosition: + roadId: '' + laneId: '34408' + s: 1 + offset: 0 + Orientation: *DEFAULT_ORIENTATION + tolerance: 1 + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: ego + EntityCondition: + SpeedCondition: + rule: equalTo + value: 0 + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + UserDefinedValueCondition: + name: ego.currentState + rule: equalTo + value: WAITING_FOR_ROUTE + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + ParameterCondition: + parameterRef: current_destination + rule: notEqualTo + value: position_a + - maximumExecutionCount: $laps + name: '' priority: parallel Action: - name: '' PrivateAction: - RoutingAction: AcquirePositionAction: - Position: &DESTINATION_2 - LanePosition: - roadId: '' - laneId: '34507' - s: 50 - offset: 0 - Orientation: *DEFAULT_ORIENTATION + Position: *POSITION_B + - name: '' + GlobalAction: + ParameterAction: + parameterRef: current_destination + SetAction: + value: position_b StartTrigger: ConditionGroup: - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: ego + EntityCondition: + ReachPositionCondition: + Position: *POSITION_A + tolerance: 1 - name: '' delay: 0 conditionEdge: none @@ -103,21 +188,24 @@ OpenSCENARIO: name: ego.currentState rule: equalTo value: WAITING_FOR_ROUTE + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + ParameterCondition: + parameterRef: current_destination + rule: notEqualTo + value: position_b StartTrigger: ConditionGroup: - Condition: - name: '' delay: 0 conditionEdge: none - ByEntityCondition: - TriggeringEntities: - triggeringEntitiesRule: any - EntityRef: - - entityRef: ego - EntityCondition: - ReachPositionCondition: - Position: *DESTINATION_1 - tolerance: 1 + ByValueCondition: + SimulationTimeCondition: + value: 0 + rule: greaterThan - name: _EndCondition ManeuverGroup: - maximumExecutionCount: 1 @@ -134,6 +222,14 @@ OpenSCENARIO: StartTrigger: ConditionGroup: - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + StoryboardElementStateCondition: + storyboardElementRef: loop + storyboardElementType: act + state: completeState - name: '' delay: 0 conditionEdge: none @@ -144,14 +240,16 @@ OpenSCENARIO: - entityRef: ego EntityCondition: ReachPositionCondition: - Position: - LanePosition: - roadId: '' - laneId: '34507' - s: 50 - offset: 0 - Orientation: *DEFAULT_ORIENTATION - tolerance: 0.5 + Position: *POSITION_A + tolerance: 1 + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: ${90 + $laps * 120} + rule: greaterThan Action: - name: '' UserDefinedAction: @@ -165,10 +263,14 @@ OpenSCENARIO: - name: '' delay: 0 conditionEdge: none - ByValueCondition: - SimulationTimeCondition: - value: 180 - rule: greaterThan + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: + - entityRef: ego + EntityCondition: + StandStillCondition: + duration: 10 Action: - name: '' UserDefinedAction: From 6d6e49a9a59ebf86011a16b1589a283c09ac495b Mon Sep 17 00:00:00 2001 From: Grzegorz Maj Date: Thu, 12 Sep 2024 12:17:57 +0200 Subject: [PATCH 260/304] Change names of relativePose tests --- simulation/traffic_simulator/test/src/utils/test_pose.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/simulation/traffic_simulator/test/src/utils/test_pose.cpp b/simulation/traffic_simulator/test/src/utils/test_pose.cpp index 843fd56d397..a7132a31c62 100644 --- a/simulation/traffic_simulator/test/src/utils/test_pose.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_pose.cpp @@ -289,7 +289,7 @@ TEST(pose, transformRelativePoseToGlobal) /** * @note Test calculation correctness when only one pose is zeroed, the goal is to obtain a pose equal to the second argument. */ -TEST(pose, relativePose_poses_zeros) +TEST(pose, relativePose_poses_zero) { const auto from = makePose(makePoint(0.0, 0.0, 0.0)); const auto to = makePose(makePoint(10.0, 51.0, 2.0)); @@ -302,7 +302,7 @@ TEST(pose, relativePose_poses_zeros) /** * @note Test calculation correctness when both poses are zeroed. */ -TEST(pose, relativePose_poses_zero) +TEST(pose, relativePose_poses_zeros) { const auto from = makePose(makePoint(0.0, 0.0, 0.0)); const auto to = makePose(makePoint(0.0, 0.0, 0.0)); @@ -330,7 +330,7 @@ TEST(pose, relativePose_poses_complex) /** * @note Test calculation correctness with the overload. */ -TEST_F(PoseTest, relativePose_first) +TEST_F(PoseTest, relativePose_canonicalized_end_position) { const auto pose_relative = makePose( makePoint(9.9999, -0.0009, 0.0126), @@ -350,7 +350,7 @@ TEST_F(PoseTest, relativePose_first) /** * @note Test calculation correctness with the overload. */ -TEST_F(PoseTest, relativePose_second) +TEST_F(PoseTest, relativePose_canonicalized_start_position) { const auto pose_relative = makePose( makePoint(145244.7916, 786706.3326, 0.0127), From e78981c6ffdc8a40790c7587ecb0d6be1855d607 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Fri, 13 Sep 2024 03:22:39 +0000 Subject: [PATCH 261/304] Bump version of scenario_simulator_v2 from version 4.2.5 to version 4.2.6 --- common/math/arithmetic/CHANGELOG.rst | 5 +++++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 5 +++++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 5 +++++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 5 +++++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 5 +++++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 5 +++++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 5 +++++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 5 +++++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 5 +++++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 5 +++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 5 +++++ .../openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 5 +++++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 5 +++++ .../openscenario_interpreter_example/package.xml | 2 +- .../openscenario_interpreter_msgs/CHANGELOG.rst | 5 +++++ .../openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 5 +++++ openscenario/openscenario_preprocessor/package.xml | 2 +- .../openscenario_preprocessor_msgs/CHANGELOG.rst | 5 +++++ .../openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 5 +++++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 5 +++++ openscenario/openscenario_validator/package.xml | 2 +- .../openscenario_visualization/CHANGELOG.rst | 5 +++++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../CHANGELOG.rst | 5 +++++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 5 +++++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 5 +++++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 5 +++++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 5 +++++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 5 +++++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 12 ++++++++++++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 5 +++++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 5 +++++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 5 +++++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 181 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index d7a29893e86..e68997a6ef3 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 88b3fe97051..20092372646 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.2.5 + 4.2.6 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 a217b54bdfd..5fb01b98c21 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 8d7f2ba65ec..0f0fcd166e2 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.2.5 + 4.2.6 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index 17fbfa2c75f..ac504e87df9 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 7fe20b1548b..76f250cf85b 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.2.5 + 4.2.6 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 f85b4bd0661..55b2cda1d44 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index e7e2f31c693..a69ba87142b 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.2.5 + 4.2.6 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 c400af7386a..d4e38cf3d60 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index d3edea8c479..9b0e0363f7b 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.2.5 + 4.2.6 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 62bdddbb613..7e33e392a19 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 013840213cd..66ec42a8adc 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.2.5 + 4.2.6 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 a4b10b817d9..dff3457b904 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,11 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 638bf8ab53d..94aa1a8a124 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.2.5 + 4.2.6 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 5f3b0760b8a..6cfdef7b9c2 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 7cdb2fd892b..5abcd9bdf79 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.2.5 + 4.2.6 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 b76707ceff8..7cb5593e1f9 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,11 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 0fdb585a731..7d815337fc6 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.2.5 + 4.2.6 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 9c8bce49f06..20d34347807 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ * Merge pull request `#1373 `_ from tier4/fix/colcon_build_error_furthermore diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 6e9270a030f..96951d807a2 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.2.5 + 4.2.6 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 bea5f9f1a52..65044e494e8 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index b20a1a446a9..183aa7683f2 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.2.5 + 4.2.6 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 96465f9138b..7e7cea1c9a2 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,11 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 6afec9f0261..8d76cc63258 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.2.5 + 4.2.6 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 cdce7fb5205..5fc71f01669 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index a198937c5ed..31a24a5f6e6 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.2.5 + 4.2.6 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 20d14b6686b..132cc94f163 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 95ecc9359b4..4ad2ebb4b03 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.2.5 + 4.2.6 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 15f31957d52..d8971f74d34 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 2746f2c95c2..970ff5b463c 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.2.5 + 4.2.6 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 f8203512908..d8ff2ecbef1 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index f38d83f0b2d..8fed6123a33 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.2.5 + 4.2.6 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 84083f58a50..45f7eb74886 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,11 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 5b5c8914dea..1c543862bcb 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.2.5 + 4.2.6 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 926a119cfa1..fc7b800cc87 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,11 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index 37350a6a76c..d6ab006f31e 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.2.5 + 4.2.6 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 209a8f4be8f..3bed24897ac 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 458b89ee890..d5c3f29ad89 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.2.5 + 4.2.6 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 5128104bb4c..f5b3156a918 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 +21,11 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ 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 d2b1d90a7c2..2fc0460ab4a 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 - 4.2.5 + 4.2.6 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 6e6d7364c7d..c300f15de44 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 782eda0da2f..bb6a93c3a2d 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.2.5 + 4.2.6 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 0643dfcfdab..f172bf16e2b 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index fb87f0aed9a..40f5df40c7a 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.2.5 + 4.2.6 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 8a3255c7f63..ffb67a74fe8 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 2a62bd160fa..ac7db92b15b 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.2.5 + 4.2.6 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 e36da68a953..2f6109d038f 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index 2577d3eeefc..b143e0c0f82 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.2.5 + 4.2.6 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index c6cad508735..d01d4e14e94 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index ca5afc050c4..cfd1599295d 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.2.5 + 4.2.6 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 d3cf5191c14..3e05ff5a106 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,18 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge pull request `#1371 `_ from tier4/RJD-1197/pose_module + Rjd 1197/pose module +* Change names of relativePose tests +* Fix typos in comments +* Merge branch 'master' into RJD-1197/pose_module +* CR requested changes part 2 +* CR requested changes +* Pose module unit tests +* Contributors: Grzegorz Maj, Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 86dd23e340a..ccbc7d4a345 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.2.5 + 4.2.6 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index bf58991cf79..3952a2c8b99 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 38503ce6845..8f74d486684 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.2.5 + 4.2.6 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 1803a4a44cf..157b598fff5 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,11 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index a9ebfec6973..3ba5639cd21 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.2.5 + 4.2.6 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 95d775687b4..3ce96e94b6a 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,11 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.6 (2024-09-13) +------------------ +* Merge branch 'master' into RJD-1197/pose_module +* Contributors: Masaya Kataoka + 4.2.5 (2024-09-12) ------------------ diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index b32d9b41730..b2b9f270dad 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.2.5 + 4.2.6 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From f6ef3c93445f4eb180992dd5a3d13f80fb161d13 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Fri, 13 Sep 2024 12:37:57 +0900 Subject: [PATCH 262/304] fix(mock): hard-coded update rate Signed-off-by: satoshi-ota --- mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp index 70559cab61e..7864980bdab 100644 --- a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp +++ b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp @@ -64,8 +64,9 @@ void CppScenarioNode::start() { onInitialize(); api_.startNpcLogic(); - using namespace std::chrono_literals; - update_timer_ = this->create_wall_timer(50ms, std::bind(&CppScenarioNode::update, this)); + const auto rate = + std::chrono::duration(1.0 / get_parameter("global_frame_rate").as_double()); + update_timer_ = this->create_wall_timer(rate, std::bind(&CppScenarioNode::update, this)); } void CppScenarioNode::stop(Result result, const std::string & description) From bfd14626e3dc428754be2129fe63a9ca52802566 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Fri, 13 Sep 2024 16:04:28 +0900 Subject: [PATCH 263/304] Cleanup struct `TransitionAssertion` Signed-off-by: yamacir-kit --- ...ator_application_for_autoware_universe.hpp | 5 + .../concealer/transition_assertion.hpp | 118 +++++++----------- 2 files changed, 47 insertions(+), 76 deletions(-) diff --git a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp index 0202d488eb3..ff9db9b0b73 100644 --- a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp +++ b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp @@ -84,6 +84,11 @@ class FieldOperatorApplicationFor auto receiveEmergencyState(const tier4_external_api_msgs::msg::Emergency & msg) -> void; + /* + NOTE: This predicate should not take the state being compared as an + argument or template parameter. Otherwise, code using this class would + need to have knowledge of the Autoware state type. + */ #define DEFINE_STATE_PREDICATE(NAME, VALUE) \ auto is##NAME() const noexcept \ { \ diff --git a/external/concealer/include/concealer/transition_assertion.hpp b/external/concealer/include/concealer/transition_assertion.hpp index 55724ba70b8..d8478d718fe 100644 --- a/external/concealer/include/concealer/transition_assertion.hpp +++ b/external/concealer/include/concealer/transition_assertion.hpp @@ -15,7 +15,6 @@ #ifndef CONCEALER__TRANSITION_ASSERTION_HPP_ #define CONCEALER__TRANSITION_ASSERTION_HPP_ -#include #include #include #include @@ -23,99 +22,66 @@ namespace concealer { -template -auto getParameter(const std::string & name, T value = {}) -{ - rclcpp::Node node{"get_parameter", "simulation"}; - - node.declare_parameter(name, value); - node.get_parameter(name, value); - - return value; -} - template struct TransitionAssertion { - using clock_type = std::chrono::steady_clock; - using rate_type = rclcpp::GenericRate; + const std::chrono::steady_clock::time_point start; - const clock_type::time_point start; const std::chrono::seconds initialize_duration; explicit TransitionAssertion() - : start(clock_type::now()), - initialize_duration(std::chrono::seconds(getParameter("initialize_duration"))) + : start(std::chrono::steady_clock::now()), initialize_duration([]() { + auto node = rclcpp::Node("get_parameter", "simulation"); + node.declare_parameter("initialize_duration", 0); + return node.get_parameter("initialize_duration").as_int(); + }()) { } auto makeTransitionError(const std::string & expected) const { - const auto current_state = asAutoware().getAutowareStateName(); - using namespace std::chrono; + const auto current_state = static_cast(*this).getAutowareStateName(); return common::AutowareError( "Simulator waited for the Autoware state to transition to ", expected, ", but time is up. The current Autoware state is ", (current_state.empty() ? "NOT PUBLISHED YET" : current_state), "."); } - auto asAutoware() -> Autoware & { return static_cast(*this); } - auto asAutoware() const -> const Autoware & { return static_cast(*this); } - -#define DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE_WITH_INITIALIZE_TIME_LIMIT(STATE) \ - template \ - void waitForAutowareStateToBe##STATE( \ - Thunk && thunk = [] {}, std::chrono::seconds interval = std::chrono::seconds(1)) \ - { \ - using std::chrono::duration_cast; \ - using std::chrono::seconds; \ - rate_type rate(interval); \ - for (thunk(); not asAutoware().isStopRequested() and not asAutoware().is##STATE(); \ - rate.sleep()) { \ - auto now = clock_type::now(); \ - if (start + initialize_duration <= now) { \ - throw makeTransitionError(#STATE); \ - } else { \ - RCLCPP_INFO_STREAM( \ - asAutoware().get_logger(), \ - "Simulator waiting for Autoware state to be " #STATE " (remain: " \ - << duration_cast(start + initialize_duration - now).count() << ")."); \ - thunk(); \ - } \ - } \ - RCLCPP_INFO_STREAM( \ - asAutoware().get_logger(), \ - "Autoware is " << asAutoware().getAutowareStateName() << " now."); \ - } \ - static_assert(true, "") - -#define DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE(STATE) \ - template \ - void waitForAutowareStateToBe##STATE( \ - Thunk && thunk = [] {}, std::chrono::seconds interval = std::chrono::seconds(1)) \ - { \ - using std::chrono::duration_cast; \ - using std::chrono::seconds; \ - rate_type rate(interval); \ - for (thunk(); not asAutoware().isStopRequested() and not asAutoware().is##STATE(); \ - rate.sleep()) { \ - auto now = clock_type::now(); \ - RCLCPP_INFO_STREAM( \ - asAutoware().get_logger(), \ - "Simulator waiting for Autoware state to be " #STATE " (remain: " \ - << duration_cast(start + initialize_duration - now).count() << ")."); \ - thunk(); \ - } \ - RCLCPP_INFO_STREAM( \ - asAutoware().get_logger(), \ - "Autoware is " << asAutoware().getAutowareStateName() << " now."); \ - } \ - static_assert(true, "") - - // XXX: The time limit must be ignored in waitForAutowareStateToBeDriving() because the current - // implementation attempts to transition to Driving state after initialize_duration seconds have - // elapsed. - +#define DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE_WITH_INITIALIZE_TIME_LIMIT(STATE) \ + template \ + auto waitForAutowareStateToBe##STATE( \ + Thunk && thunk = [] {}, Interval interval = std::chrono::seconds(1)) \ + { \ + for (thunk(); not static_cast(*this).isStopRequested() and \ + not static_cast(*this).is##STATE(); \ + rclcpp::GenericRate(interval).sleep()) { \ + if (auto now = std::chrono::steady_clock::now(); start + initialize_duration <= now) { \ + throw makeTransitionError(#STATE); \ + } else { \ + thunk(); \ + } \ + } \ + } \ + static_assert(true) + +#define DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE(STATE) \ + template \ + auto waitForAutowareStateToBe##STATE( \ + Thunk && thunk = [] {}, std::chrono::seconds interval = std::chrono::seconds(1)) \ + { \ + for (thunk(); not static_cast(*this).isStopRequested() and \ + not static_cast(*this).is##STATE(); \ + rclcpp::GenericRate(interval).sleep()) { \ + thunk(); \ + } \ + } \ + static_assert(true) + + /* + NOTE: The time limit must be ignored in waitForAutowareStateToBeDriving() + because the current implementation attempts to transition to Driving state + after initialize_duration seconds have elapsed. + */ DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE_WITH_INITIALIZE_TIME_LIMIT(Initializing); DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE_WITH_INITIALIZE_TIME_LIMIT(WaitingForRoute); DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE_WITH_INITIALIZE_TIME_LIMIT(Planning); From 8d189b12b2eca96fbe393bd5f433328647871cb8 Mon Sep 17 00:00:00 2001 From: Release Bot Date: Fri, 13 Sep 2024 08:24:38 +0000 Subject: [PATCH 264/304] Bump version of scenario_simulator_v2 from version 4.2.6 to version 4.2.7 --- common/math/arithmetic/CHANGELOG.rst | 3 +++ common/math/arithmetic/package.xml | 2 +- common/math/geometry/CHANGELOG.rst | 3 +++ common/math/geometry/package.xml | 2 +- common/scenario_simulator_exception/CHANGELOG.rst | 3 +++ common/scenario_simulator_exception/package.xml | 2 +- common/simple_junit/CHANGELOG.rst | 3 +++ common/simple_junit/package.xml | 2 +- common/status_monitor/CHANGELOG.rst | 3 +++ common/status_monitor/package.xml | 2 +- external/concealer/CHANGELOG.rst | 3 +++ external/concealer/package.xml | 2 +- external/embree_vendor/CHANGELOG.rst | 3 +++ external/embree_vendor/package.xml | 2 +- map/kashiwanoha_map/CHANGELOG.rst | 3 +++ map/kashiwanoha_map/package.xml | 2 +- map/simple_cross_map/CHANGELOG.rst | 3 +++ map/simple_cross_map/package.xml | 2 +- mock/cpp_mock_scenarios/CHANGELOG.rst | 7 +++++++ mock/cpp_mock_scenarios/package.xml | 2 +- .../openscenario_experimental_catalog/CHANGELOG.rst | 3 +++ openscenario/openscenario_experimental_catalog/package.xml | 2 +- openscenario/openscenario_interpreter/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter/package.xml | 2 +- .../openscenario_interpreter_example/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_example/package.xml | 2 +- openscenario/openscenario_interpreter_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_interpreter_msgs/package.xml | 2 +- openscenario/openscenario_preprocessor/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor/package.xml | 2 +- openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst | 3 +++ openscenario/openscenario_preprocessor_msgs/package.xml | 2 +- openscenario/openscenario_utility/CHANGELOG.rst | 3 +++ openscenario/openscenario_utility/package.xml | 2 +- openscenario/openscenario_validator/CHANGELOG.rst | 3 +++ openscenario/openscenario_validator/package.xml | 2 +- rviz_plugins/openscenario_visualization/CHANGELOG.rst | 3 +++ rviz_plugins/openscenario_visualization/package.xml | 2 +- .../real_time_factor_control_rviz_plugin/CHANGELOG.rst | 3 +++ .../real_time_factor_control_rviz_plugin/package.xml | 2 +- scenario_simulator_v2/CHANGELOG.rst | 3 +++ scenario_simulator_v2/package.xml | 2 +- simulation/behavior_tree_plugin/CHANGELOG.rst | 3 +++ simulation/behavior_tree_plugin/package.xml | 2 +- simulation/do_nothing_plugin/CHANGELOG.rst | 3 +++ simulation/do_nothing_plugin/package.xml | 2 +- simulation/simple_sensor_simulator/CHANGELOG.rst | 3 +++ simulation/simple_sensor_simulator/package.xml | 2 +- simulation/simulation_interface/CHANGELOG.rst | 3 +++ simulation/simulation_interface/package.xml | 2 +- simulation/traffic_simulator/CHANGELOG.rst | 3 +++ simulation/traffic_simulator/package.xml | 2 +- simulation/traffic_simulator_msgs/CHANGELOG.rst | 3 +++ simulation/traffic_simulator_msgs/package.xml | 2 +- test_runner/random_test_runner/CHANGELOG.rst | 3 +++ test_runner/random_test_runner/package.xml | 2 +- test_runner/scenario_test_runner/CHANGELOG.rst | 3 +++ test_runner/scenario_test_runner/package.xml | 2 +- 58 files changed, 120 insertions(+), 29 deletions(-) diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index e68997a6ef3..5a2fb5ef910 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 20092372646..e717cb6ffe5 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 4.2.6 + 4.2.7 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 5fb01b98c21..960205286db 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 0f0fcd166e2..595b28a4815 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 4.2.6 + 4.2.7 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index ac504e87df9..d5374c143d1 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index 76f250cf85b..be1bc7047ea 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 4.2.6 + 4.2.7 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 55b2cda1d44..798f39ad289 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index a69ba87142b..230fc8fa2a4 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 4.2.6 + 4.2.7 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 d4e38cf3d60..3777997de87 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 9b0e0363f7b..e6240847dd5 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 4.2.6 + 4.2.7 none Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index 7e33e392a19..dfe7871201d 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/external/concealer/package.xml b/external/concealer/package.xml index 66ec42a8adc..3978cf815d1 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 4.2.6 + 4.2.7 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 dff3457b904..fa29fef0a6b 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 94aa1a8a124..d46a9f5dc58 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 4.2.6 + 4.2.7 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 6cfdef7b9c2..e2d80251f69 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 5abcd9bdf79..58e76215a4e 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 4.2.6 + 4.2.7 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 7cb5593e1f9..21bad9eac16 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,9 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 7d815337fc6..7bff8b394b8 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 4.2.6 + 4.2.7 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 20d34347807..8a5f8d6fe76 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,13 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ +* Merge pull request `#1379 `_ from tier4/fix/hard-coded-update-rate + fix(mock): hard-coded update rate +* fix(mock): hard-coded update rate +* Contributors: Masaya Kataoka, satoshi-ota + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 96951d807a2..077636374e3 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 4.2.6 + 4.2.7 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 65044e494e8..b5e1570e9b8 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 183aa7683f2..b0597456e2b 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 4.2.6 + 4.2.7 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 7e7cea1c9a2..85f8304ba99 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,9 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index 8d76cc63258..04fb15e42d8 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 4.2.6 + 4.2.7 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 5fc71f01669..b66c7420bb9 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 31a24a5f6e6..c49eee5d4ce 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 4.2.6 + 4.2.7 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 132cc94f163..d336fd244ff 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 4ad2ebb4b03..3f306dff4dc 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 4.2.6 + 4.2.7 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 d8971f74d34..88f23930a07 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 970ff5b463c..1451e68bfd2 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 4.2.6 + 4.2.7 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 d8ff2ecbef1..ebacc4b52b3 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index 8fed6123a33..be1055ed6a9 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 4.2.6 + 4.2.7 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 45f7eb74886..b2dab44f9e2 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,9 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index 1c543862bcb..6376bba6dbe 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 4.2.6 + 4.2.7 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 fc7b800cc87..21b6c9c20b4 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,9 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index d6ab006f31e..133896d8176 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 4.2.6 + 4.2.7 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 3bed24897ac..11a9a156088 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index d5c3f29ad89..1a67d93e687 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 4.2.6 + 4.2.7 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 f5b3156a918..bf2fde2bbf4 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 +21,9 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module 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 2fc0460ab4a..fa688c26a07 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 - 4.2.6 + 4.2.7 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 c300f15de44..05a97a5df18 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index bb6a93c3a2d..6f4ccc31483 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 4.2.6 + 4.2.7 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 f172bf16e2b..4805eb53181 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 40f5df40c7a..9565295b9b1 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 4.2.6 + 4.2.7 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 ffb67a74fe8..683aaece85f 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index ac7db92b15b..0c6523af9bd 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 4.2.6 + 4.2.7 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 2f6109d038f..06acabf3c45 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index b143e0c0f82..bf5f7bc4636 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 4.2.6 + 4.2.7 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index d01d4e14e94..236ffcaf713 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index cfd1599295d..71dcb942319 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 4.2.6 + 4.2.7 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 3e05ff5a106..d7e37805abd 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge pull request `#1371 `_ from tier4/RJD-1197/pose_module diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index ccbc7d4a345..b3a60eeb163 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 4.2.6 + 4.2.7 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 3952a2c8b99..2a1348d11ca 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index 8f74d486684..14b89ebeb03 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 4.2.6 + 4.2.7 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 157b598fff5..e448bd933cf 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,9 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 3ba5639cd21..f878889d515 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 4.2.6 + 4.2.7 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 3ce96e94b6a..ba0a21255f2 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,9 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +4.2.7 (2024-09-13) +------------------ + 4.2.6 (2024-09-13) ------------------ * Merge branch 'master' into RJD-1197/pose_module diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index b2b9f270dad..85de3e104c5 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 4.2.6 + 4.2.7 scenario test runner package Tatsuya Yamasaki Apache License 2.0 From 984cb93aa9bd7d4aacc52f946ef637b072349249 Mon Sep 17 00:00:00 2001 From: SzymonParapura Date: Mon, 16 Sep 2024 12:49:44 +0200 Subject: [PATCH 265/304] docs: Update QuickStart.md and BuildInstructions.md --- docs/image/build_success2.png | Bin 22190 -> 0 bytes docs/image/cpp_scenario_launch.gif | Bin 0 -> 4819282 bytes docs/image/cpp_scenario_result.png | Bin 0 -> 125175 bytes docs/image/random_test_runner_launch.gif | Bin 0 -> 8120021 bytes docs/image/random_test_runner_result.png | Bin 0 -> 210254 bytes docs/image/scenario_test_runner_launch.gif | Bin 0 -> 8652491 bytes docs/image/scenario_test_runner_result.png | Bin 0 -> 226197 bytes docs/image/ss2_autoware_build_result.png | Bin 0 -> 158108 bytes docs/image/ss2_build_result.png | Bin 0 -> 134394 bytes docs/image/universe_repository_result.png | Bin 129958 -> 0 bytes docs/user_guide/BuildInstructions.md | 58 +++------ docs/user_guide/QuickStart.md | 140 ++++++++++++--------- 12 files changed, 104 insertions(+), 94 deletions(-) delete mode 100644 docs/image/build_success2.png create mode 100644 docs/image/cpp_scenario_launch.gif create mode 100644 docs/image/cpp_scenario_result.png create mode 100644 docs/image/random_test_runner_launch.gif create mode 100644 docs/image/random_test_runner_result.png create mode 100644 docs/image/scenario_test_runner_launch.gif create mode 100644 docs/image/scenario_test_runner_result.png create mode 100644 docs/image/ss2_autoware_build_result.png create mode 100644 docs/image/ss2_build_result.png delete mode 100644 docs/image/universe_repository_result.png diff --git a/docs/image/build_success2.png b/docs/image/build_success2.png deleted file mode 100644 index ebd2a1efdd7cb05c6c31756cd4d2ff0ad1ac5b1e..0000000000000000000000000000000000000000 GIT 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zYrp8XkZaMyXkfJ%7-R$5lx#5e-pYM7Mh=+{FMmauySpm8!k!{g=Rdn35RIop9%YmU z5p(1~a-9#=|1pu}8<8toi_R)fJmyXD`klmEAB|68?x0eSu}uKkUs*t0n<3E%BZb?bM69x Date: Wed, 31 Jul 2024 14:02:30 +0900 Subject: [PATCH 067/304] doc: update OpenSCENARIOSupport.md for RelativeClearanceCondition --- docs/developer_guide/OpenSCENARIOSupport.md | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/docs/developer_guide/OpenSCENARIOSupport.md b/docs/developer_guide/OpenSCENARIOSupport.md index 26012086727..89c9c99b98d 100644 --- a/docs/developer_guide/OpenSCENARIOSupport.md +++ b/docs/developer_guide/OpenSCENARIOSupport.md @@ -310,7 +310,7 @@ Currently, the only way to know the result of the simulation is by viewing the s | EndOfRoadCondition | unimplemented | | | Entities | 1.3 (partial) | [detail](#Entities) | | EntityAction | 1.3 | | -| EntityCondition | 1.1 (partial) | [detail](#EntityCondition) | +| EntityCondition | 1.3 (partial) | [detail](#EntityCondition) | | EntityDistribution | unimplemented | | | EntityDistributionEntry | unimplemented | | | EntityObject | 1.3 (partial) | [detail](#EntityObject) | @@ -425,11 +425,11 @@ Currently, the only way to know the result of the simulation is by viewing the s | ReachPositionCondition | 1.1 | [detail](#ReachPositionCondition) | | ReferenceContext | 1.3 (partial) | [detail](#ReferenceContext) | | RelativeAngleCondition | unimplemented | | -| RelativeClearanceCondition | unimplemented | | +| RelativeClearanceCondition | 1.3 (partial) | [detail](#RelativeClearanceCondition) | | RelativeDistanceCondition | 1.3 (partial) | [detail](#RelativeDistanceCondition) | | RelativeDistanceType | 1.3 | [detail](#RelativeDistanceType) | | RelativeLanePosition | unimplemented | | -| RelativeLaneRange | unimplemented | | +| RelativeLaneRange | 1.3 | | | RelativeObjectPosition | 1.3 | | | RelativeRoadPosition | unimplemented | | | RelativeSpeedCondition | unimplemented | | @@ -643,9 +643,8 @@ Currently, the only way to know the result of the simulation is by viewing the s #### EntityCondition -- Properties `EndOfRoadCondition`, `OffroadCondition`, `TimeToCollisionCondition`, `RelativeDistanceCondition`, and `TraveledDistanceCondition` are **not** supported. +- Properties `EndOfRoadCondition`, `OffroadCondition`, `TimeToCollisionCondition`, `RelativeDistanceCondition`, `TraveledDistanceCondition`, `AngleCondition`, and `RelativeAngleCondition` are **not** supported. - Property `ReachPositionCondition` deprecated in version 1.2 is still supported. -- Properties `AngleCondition` and `RelativeAngleCondition` created in version 1.3 are **not** supported. #### EntityObject @@ -765,6 +764,11 @@ Currently, the only way to know the result of the simulation is by viewing the s - Enumeration literal `absolute` is **not** supported. +#### RelativeClearanceCondition + +- Property `oppositeLanes` is ignored. + - The simulator behaves as if `oppositeLanes` is `false`. + #### RelativeDistanceCondition - Property `Position` of types `RoadPosition`, `RelativeRoadPosition`, `RelativeLanePosition`, `RoutePosition`, `GeoPosition`, and `TrajectoryPosition` are **not** supported. From 178f8881296d7b55bca0ba3cbebba771490d3868 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 31 Jul 2024 14:03:06 +0900 Subject: [PATCH 068/304] refactor: format comment-outs --- .../syntax/relative_clearance_condition.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp index 5140e728818..970650516e4 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_clearance_condition.hpp @@ -45,7 +45,7 @@ struct RelativeClearanceCondition : private Scope, private SimulatorCore::NonStandardOperation { /* - Longitudinal distance behind reference point of the entity to be checked along lane centerline of the current lane of the triggering entity. Orientation of entity towards lane determines backward direction. Velocity of entity is irrelevant. Unit: [m]. Range: [0..inf[. Default if omitted: 0 + Longitudinal distance behind reference point of the entity to be checked along lane centerline of the current lane of the triggering entity. Orientation of entity towards lane determines backward direction. Velocity of entity is irrelevant. Unit: [m]. Range: [0..inf[. Default if omitted: 0 */ const Double distance_backward; @@ -55,7 +55,7 @@ struct RelativeClearanceCondition : private Scope, const Double distance_forward; /* - If false, then entityRefs are only considered to be on the lane if their reference point is within the checked area; otherwise the whole bounding box is considered. + If false, then entityRefs are only considered to be on the lane if their reference point is within the checked area; otherwise the whole bounding box is considered. */ const Boolean free_space; From 58a69000dcaecd8046300b12537ffd541fa93085 Mon Sep 17 00:00:00 2001 From: koki suzuki Date: Wed, 31 Jul 2024 15:17:19 +0900 Subject: [PATCH 069/304] chore: Update Longitudinal_control.md with additional details for requestSpeedChange API --- docs/developer_guide/Longitudinal_control.md | 227 +++++++++++-------- 1 file changed, 130 insertions(+), 97 deletions(-) diff --git a/docs/developer_guide/Longitudinal_control.md b/docs/developer_guide/Longitudinal_control.md index aad9f112204..a79e42597e7 100644 --- a/docs/developer_guide/Longitudinal_control.md +++ b/docs/developer_guide/Longitudinal_control.md @@ -1,86 +1,119 @@ # Longitudinal Control -traffic_simulator has various ways to control the longitudinal behavior of the npc. +traffic_simulator has various ways to control the longitudinal behavior of the entity. + +## Basic Information +### target_speed +In this document, you will see variant called `target_speed` which is the target speed of the entity. The entity will always try to reach the target speed under the constraints such as acceleration or deceleration set by the user or if not by the default value. If `target_speed` is `NULL`, the entity will keep or change the speed with some other constraints set by the user or if not by the default value. + +### Set functions +Set functions directly changes the speed, acceleration, or deceleration of the entity. This will be executed immediately, even while the entity is trying to reach the target speed. It will ignore the physics of the entity and set the value directly. ## List of Longitudinal Controllers -| Name | Description | -| --------------------------------------------------------- | -------------------------------------------- | -| [**requestSpeedChange**](#requestSpeedChange) | Changes the speed of the npc. | -| [**requestSynchronize**](#requestSynchronize) | Synchronizes the npc with the target entity. | -| [**setLinearVelocity**](#setLinearVelocity) | Sets the linear velocity of the npc. | -| [**setTwist**](#setTwist) | Sets the twist of the npc. | -| [**setAcceleration**](#setAcceleration) | Sets the acceleration of the npc. | -| [**setAccelerationLimit**](#setAccelerationLimit) | Sets the acceleration limit of the npc. | -| [**setAccelerationRateLimit**](#setAccelerationRateLimit) | Sets the acceleration rate limit of the npc. | -| [**setDecelerationLimit**](#setDecelerationLimit) | Sets the deceleration limit of the npc. | -| [**setDecelerationRateLimit**](#setDecelerationRateLimit) | Sets the deceleration rate limit of the npc. | -| [**setVelocityLimit**](#setVelocityLimit) | Sets the velocity limit of the npc. | +| Name | Description | +| --------------------------------------------------------- | ----------------------------------------------- | +| [**requestSpeedChange**](#requestSpeedChange) | Changes the speed of the entity. | +| [**requestSynchronize**](#requestSynchronize) | Synchronizes the entity with the target entity. | +| [**setLinearVelocity**](#setLinearVelocity) | Sets the linear velocity of the entity. | +| [**setTwist**](#setTwist) | Sets the twist of the entity. | +| [**setAcceleration**](#setAcceleration) | Sets the acceleration of the entity. | +| [**setAccelerationLimit**](#setAccelerationLimit) | Sets the acceleration limit of the entity. | +| [**setAccelerationRateLimit**](#setAccelerationRateLimit) | Sets the acceleration rate limit of the entity. | +| [**setDecelerationLimit**](#setDecelerationLimit) | Sets the deceleration limit of the entity. | +| [**setDecelerationRateLimit**](#setDecelerationRateLimit) | Sets the deceleration rate limit of the entity. | +| [**setVelocityLimit**](#setVelocityLimit) | Sets the velocity limit of the entity. | ## Details ### requestSpeedChange -By using `API::requestSpeedChange`, you can change the speed of the npc. +By using `API::requestSpeedChange`, you can change the speed of the entity. MiscObjectEntity can not be controlled by this API. -| Value | Type | Description | -| ------------ | ------ | ----------------------------------------------------------- | -| name | string | Name of the npc. | -| target_speed | double | Target speed of the npc. | -| continuous | bool | If true the npc will keep the speed until the next command. | +| Value | Type | Description | +| ------------ | ------ | -------------------------------------------------------------- | +| name | string | Name of the entity. | +| target_speed | double | Target speed of the entity. | +| continuous | bool | If true the entity will keep the speed until the next command. | #### EgoEntity `target_speed` will be set as initial target speed of the EgoEntity only before the scenario starts. #### Other entity -The function will change the target speed of entity to `target_speed` immediately. -If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the npc will keep the speed until the next longitudinal control command ordered. It will accelerate on maximum acceleration rate set previously. - -| Value | Type | Description | -| ------------ | ------------------------ | ----------------------------------------------------------- | -| name | string | Name of the npc. | -| target_speed | double | Target speed of the npc. | -| transition | speed_change::Transition | Transition type. | -| constraint | speed_change::Constraint | Constraint type. | -| continuous | bool | If true the npc will keep the speed until the next command. | +The function will change entities `target_speed` to given immediately. +If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the entity will keep the speed until the next longitudinal control command ordered. It will accelerate on maximum acceleration rate set previously. + +| Value | Type | Description | +| ------------ | ------------------------ | -------------------------------------------------------------- | +| name | string | Name of the entity. | +| target_speed | double | Target speed of the entity. | +| transition | speed_change::Transition | Transition type. | +| constraint | speed_change::Constraint | Constraint type. | +| continuous | bool | If true the entity will keep the speed until the next command. | + #### EgoEntity `target_speed` will be set as initial target speed of the EgoEntity only before the scenario starts. #### Other entity -If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the npc will keep the speed until the next longitudinal control command ordered. +If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the entity will keep the speed until the next longitudinal control command ordered. -When `constraint` is set to `LONGITUDINAL_ACCELERATION`, the entity will accelerate to the target speed with acceleration rate you set. +##### Longitudinal Acceleration +When `constraint.type` is set to `LONGITUDINAL_ACCELERATION`, the entity will accelerate to the target speed with acceleration of `constraint.value`. - If `transition` is set to `LINEAR`, the entity will accelerate to the target speed linearly. -- If `transition` is set to `AUTO`, it will change the maximum acceleration speed of the entity and append the job to change the target speed of the npc to the job queue. After the npc reaches the target speed, it will change the maximum acceleration speed back to the original value. -- If `transition` is set to `STEP`, it will - - -When `constraint` is set to `TIME`, the entity will accelerate to the target speed by the time you set. -When `constraint` is set to `NONE`, is will append the job to change the target_speed of the npc to the job queue. - -`change target speed` block in the below figure is the highest priority compared to other blocks. -If target speed is set somewhere else, the entity will try to change the speed to the target speed under acceleration/deceleration constraints set by the user or if not by the default value. -![requestSpeedChange](../images/Longitudinal_control/requestSpeedChange.png) - - -| Value | Type | Description | -| ------------ | --------------------------------- | ----------------------------------------------------------- | -| name | string | Name of the npc. | -| target_speed | speed_change::RelativeTargetSpeed | Relative target speed. | -| continuous | bool | If true the npc will keep the speed until the next command. | - -| Value | Type | Description | -| ------------ | --------------------------------- | ----------------------------------------------------------- | -| name | string | Name of the npc. | -| target_speed | speed_change::RelativeTargetSpeed | Relative target speed. | -| transition | speed_change::Transition | Transition type. | -| constraint | speed_change::Constraint | Constraint type. | -| continuous | bool | If true the npc will keep the speed until the next command. | +- If `transition` is set to `AUTO`, it will change the maximum acceleration speed of the entity and append the job to change the target speed of the entity to the job queue. After the entity reaches the target speed, it will change the maximum acceleration speed back to the original value. +- If `transition` is set to `STEP`, it will change the speed of the entity to the target speed immediately. It will ignore the acceleration rate set by the user. + +##### Time Constraint Acceleration +When `constraint.type` is set to `TIME`, the entity will accelerate to the target speed by the time of `constraint.value`. +For `transition` it is the same as `LONGITUDINAL_ACCELERATION`. + +##### None Constraint Acceleration +When `constraint` is set to `NONE`, is will append the job to change the target_speed of the entity to the job queue. + +```mermaid +flowchart LR + A[requestSpeedChange] --> B{constraint.type}; + B -- LONGITUDINAL_ACCELERATION --> C{transition}; + C -- LINEAR --> D[SetLinearAcceleration]; + D -- AUTO --> C; + C -- AUTO --> E[SetAccelerationRateLimit + or + SetDecelerationRateLimit]; + E --> F[[ChangeTargetSpeed]]; + C -- STEP --> G[[changeTargetSpeed]]; + G --> H[setLinearVelocity]; + + B -- TIME --> I{transition}; + I -- LINEAR --> J[SetLinearAcceleration]; + J -- AUTO --> I; + I -- AUTO --> K[SetAccelerationRateLimit + or + SetDecelerationRateLimit]; + K --> L[[ChangeTargetSpeed]]; + I -- STEP --> M[[changeTargetSpeed]]; + M --> N[setLinearVelocity]; + + B -- NONE ---> O[[ChangeTargetSpeed]]; +``` + +| Value | Type | Description | +| ------------ | --------------------------------- | -------------------------------------------------------------- | +| name | string | Name of the entity. | +| target_speed | speed_change::RelativeTargetSpeed | Relative target speed. | +| continuous | bool | If true the entity will keep the speed until the next command. | + +| Value | Type | Description | +| ------------ | --------------------------------- | -------------------------------------------------------------- | +| name | string | Name of the entity. | +| target_speed | speed_change::RelativeTargetSpeed | Relative target speed. | +| transition | speed_change::Transition | Transition type. | +| constraint | speed_change::Constraint | Constraint type. | +| continuous | bool | If true the entity will keep the speed until the next command. | ### requestSynchronize By using `API::requestSynchronize`, you can request the entity to adjust speed to stop at the designated lanelet by the time target entity crosses the another designated lanelet. | Value | Description | | ---------------- | ---------------------------------------------------------------------- | -| name | Name of the npc. | +| name | Name of the entity. | | target_name | Name of the target entity. | | target_sync_pose | Target lanelet pose for target entity. | | entity_target | Target lanelet pose for controlling entity. | @@ -88,71 +121,71 @@ By using `API::requestSynchronize`, you can request the entity to adjust speed t | tolerance | Tolerance for how much margin to accept to stop at the target (meter). | ### setLinearVelocity -By using `API::setLinearVelocity`, you can set the linear velocity of the npc. +By using `API::setLinearVelocity`, you can set the linear velocity of the entity. -| Value | Type | Description | -| --------------- | ------ | --------------------------- | -| name | string | Name of the npc. | -| linear_velocity | double | Linear velocity of the npc. | +| Value | Type | Description | +| --------------- | ------ | ------------------------------ | +| name | string | Name of the entity. | +| linear_velocity | double | Linear velocity of the entity. | ### setTwist -By using `API::setTwist`, you can set the twist of the npc. +By using `API::setTwist`, you can set the twist of the entity. -| Value | Type | Description | -| ----- | ------------------------- | ----------------- | -| name | string | Name of the npc. | -| twist | geometry_msgs::msg::Twist | Twist of the npc. | +| Value | Type | Description | +| ----- | ------------------------- | -------------------- | +| name | string | Name of the entity. | +| twist | geometry_msgs::msg::Twist | Twist of the entity. | ### setAcceleration -By using `API::setAcceleration`, you can set the acceleration of the npc. +By using `API::setAcceleration`, you can set the acceleration of the entity. -| Value | Type | Description | -| ------------ | ------------------------- | ------------------------ | -| name | string | Name of the npc. | -| acceleration | geometry_msgs::msg::Accel | Acceleration of the npc. | +| Value | Type | Description | +| ------------ | ------------------------- | --------------------------- | +| name | string | Name of the entity. | +| acceleration | geometry_msgs::msg::Accel | Acceleration of the entity. | ### setAccelerationLimit -By using `API::setAccelerationLimit`, you can set the acceleration limit of the npc. +By using `API::setAccelerationLimit`, you can set the acceleration limit of the entity. -| Value | Type | Description | -| ------------ | ------ | ------------------------------ | -| name | string | Name of the npc. | -| acceleration | double | Acceleration limit of the npc. | +| Value | Type | Description | +| ------------ | ------ | --------------------------------- | +| name | string | Name of the entity. | +| acceleration | double | Acceleration limit of the entity. | ### setAccelerationRateLimit -By using `API::setAccelerationRateLimit`, you can set the acceleration rate limit of the npc. +By using `API::setAccelerationRateLimit`, you can set the acceleration rate limit of the entity. -| Value | Type | Description | -| ----------------- | ------ | ----------------------------------- | -| name | string | Name of the npc. | -| acceleration_rate | double | Acceleration rate limit of the npc. | +| Value | Type | Description | +| ----------------- | ------ | -------------------------------------- | +| name | string | Name of the entity. | +| acceleration_rate | double | Acceleration rate limit of the entity. | ### setDecelerationLimit -By using `API::setDecelerationLimit`, you can set the deceleration limit of the npc. +By using `API::setDecelerationLimit`, you can set the deceleration limit of the entity. -| Value | Type | Description | -| ------------ | ------ | ------------------------------ | -| name | string | Name of the npc. | -| deceleration | double | Deceleration limit of the npc. | +| Value | Type | Description | +| ------------ | ------ | --------------------------------- | +| name | string | Name of the entity. | +| deceleration | double | Deceleration limit of the entity. | ### setDecelerationRateLimit -By using `API::setDecelerationRateLimit`, you can set the deceleration rate limit of the npc. +By using `API::setDecelerationRateLimit`, you can set the deceleration rate limit of the entity. -| Value | Type | Description | -| ----------------- | ------ | ----------------------------------- | -| name | string | Name of the npc. | -| deceleration_rate | double | Deceleration rate limit of the npc. | +| Value | Type | Description | +| ----------------- | ------ | -------------------------------------- | +| name | string | Name of the entity. | +| deceleration_rate | double | Deceleration rate limit of the entity. | ### setVelocityLimit -By using `API::setVelocityLimit`, you can set the velocity limit of the npc. +By using `API::setVelocityLimit`, you can set the velocity limit of the entity. -| Value | Type | Description | -| --------------- | ------ | -------------------------- | -| name | string | Name of the npc. | -| linear_velocity | double | Velocity limit of the npc. | +| Value | Type | Description | +| --------------- | ------ | ----------------------------- | +| name | string | Name of the entity. | +| linear_velocity | double | Velocity limit of the entity. | From 1637e50f1038d078c1958a5b71b0c5999d203e68 Mon Sep 17 00:00:00 2001 From: koki suzuki Date: Wed, 31 Jul 2024 16:29:58 +0900 Subject: [PATCH 070/304] chore: Update Longitudinal_control.md with additional details for requestSpeedChange API --- docs/developer_guide/Longitudinal_control.md | 42 +++++++++++------- .../requestSpeedChange.png | Bin 361360 -> 0 bytes .../synchronizedAction.png | Bin 0 -> 74305 bytes 3 files changed, 27 insertions(+), 15 deletions(-) delete mode 100644 docs/developer_guide/images/Longitudinal_control/requestSpeedChange.png create mode 100644 docs/developer_guide/images/Longitudinal_control/synchronizedAction.png diff --git a/docs/developer_guide/Longitudinal_control.md b/docs/developer_guide/Longitudinal_control.md index a79e42597e7..65cf253001e 100644 --- a/docs/developer_guide/Longitudinal_control.md +++ b/docs/developer_guide/Longitudinal_control.md @@ -28,19 +28,20 @@ Set functions directly changes the speed, acceleration, or deceleration of the e ### requestSpeedChange By using `API::requestSpeedChange`, you can change the speed of the entity. MiscObjectEntity can not be controlled by this API. +For EgoEntity, speed can only be changed before the simulation starts. +API takes several types of value sets. Description of each type is as follows. +#### Values | Value | Type | Description | | ------------ | ------ | -------------------------------------------------------------- | | name | string | Name of the entity. | | target_speed | double | Target speed of the entity. | | continuous | bool | If true the entity will keep the speed until the next command. | -#### EgoEntity -`target_speed` will be set as initial target speed of the EgoEntity only before the scenario starts. -#### Other entity The function will change entities `target_speed` to given immediately. If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the entity will keep the speed until the next longitudinal control command ordered. It will accelerate on maximum acceleration rate set previously. +#### Values | Value | Type | Description | | ------------ | ------------------------ | -------------------------------------------------------------- | | name | string | Name of the entity. | @@ -49,10 +50,6 @@ If `continuous` is set to `false`, job to accelerate to target speed will be del | constraint | speed_change::Constraint | Constraint type. | | continuous | bool | If true the entity will keep the speed until the next command. | -#### EgoEntity -`target_speed` will be set as initial target speed of the EgoEntity only before the scenario starts. - -#### Other entity If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the entity will keep the speed until the next longitudinal control command ordered. ##### Longitudinal Acceleration @@ -94,12 +91,22 @@ flowchart LR B -- NONE ---> O[[ChangeTargetSpeed]]; ``` +#### Values +By using `speed_change::RelativeTargetSpeed` you can set the target speed of the entity relative to another entity. | Value | Type | Description | | ------------ | --------------------------------- | -------------------------------------------------------------- | | name | string | Name of the entity. | | target_speed | speed_change::RelativeTargetSpeed | Relative target speed. | | continuous | bool | If true the entity will keep the speed until the next command. | +If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the entity will keep the speed until the next longitudinal control command ordered. + +`target_speed.reference_entity_name` is the name of the entity that the target speed is relative to. The target speed of the entity will be same as the target speed of the reference entity. +- By setting `target_speed.type` to `DELTA`, you can set the target speed of the entity to be the target speed of the reference entity plus the value of `target_speed.value`. +- By setting `target_speed.type` to `FACTOR`, you can set the target speed of the entity to be the target speed of the reference entity multiplied by the value of `target_speed.value`. + +#### Values +By using `speed_change::RelativeTargetSpeed` you can set the target speed of the entity relative to another entity. | Value | Type | Description | | ------------ | --------------------------------- | -------------------------------------------------------------- | | name | string | Name of the entity. | @@ -107,6 +114,7 @@ flowchart LR | transition | speed_change::Transition | Transition type. | | constraint | speed_change::Constraint | Constraint type. | | continuous | bool | If true the entity will keep the speed until the next command. | +It works the same as explained before. ### requestSynchronize By using `API::requestSynchronize`, you can request the entity to adjust speed to stop at the designated lanelet by the time target entity crosses the another designated lanelet. @@ -120,16 +128,20 @@ By using `API::requestSynchronize`, you can request the entity to adjust speed t | target_speed | Target speed for controlling entity (meter per second). | | tolerance | Tolerance for how much margin to accept to stop at the target (meter). | +![requestSynchronize](images/Longitudinal_control/synchronizedAction.png) +As shown in the image, the entity will adjust it's speed to `target_speed` on `entity_target` at the time the target entity crosses the `target_sync_pose`. `tolerance` is the margin of error for the entity to stop at the `entity_target`. The target entity could be set by giving the name of the entity as `target_name`. + ### setLinearVelocity -By using `API::setLinearVelocity`, you can set the linear velocity of the entity. +By using `API::setLinearVelocity`, you can set the linear velocity of the entity immediately. It will ignore the physics of the entity and set the value directly. | Value | Type | Description | | --------------- | ------ | ------------------------------ | | name | string | Name of the entity. | | linear_velocity | double | Linear velocity of the entity. | + ### setTwist -By using `API::setTwist`, you can set the twist of the entity. +By using `API::setTwist`, you can set the twist of the entity immediately. It will ignore the physics of the entity and set the value directly. | Value | Type | Description | | ----- | ------------------------- | -------------------- | @@ -138,7 +150,7 @@ By using `API::setTwist`, you can set the twist of the entity. ### setAcceleration -By using `API::setAcceleration`, you can set the acceleration of the entity. +By using `API::setAcceleration`, you can set the acceleration of the entity immediately. It will ignore the physics of the entity and set the value directly. | Value | Type | Description | | ------------ | ------------------------- | --------------------------- | @@ -147,7 +159,7 @@ By using `API::setAcceleration`, you can set the acceleration of the entity. ### setAccelerationLimit -By using `API::setAccelerationLimit`, you can set the acceleration limit of the entity. +By using `API::setAccelerationLimit`, you can set the acceleration limit of the entity immediately. | Value | Type | Description | | ------------ | ------ | --------------------------------- | @@ -156,7 +168,7 @@ By using `API::setAccelerationLimit`, you can set the acceleration limit of the ### setAccelerationRateLimit -By using `API::setAccelerationRateLimit`, you can set the acceleration rate limit of the entity. +By using `API::setAccelerationRateLimit`, you can set the acceleration rate limit of the entity immediately. | Value | Type | Description | | ----------------- | ------ | -------------------------------------- | @@ -165,7 +177,7 @@ By using `API::setAccelerationRateLimit`, you can set the acceleration rate limi ### setDecelerationLimit -By using `API::setDecelerationLimit`, you can set the deceleration limit of the entity. +By using `API::setDecelerationLimit`, you can set the deceleration limit of the entity immediately. | Value | Type | Description | | ------------ | ------ | --------------------------------- | @@ -174,7 +186,7 @@ By using `API::setDecelerationLimit`, you can set the deceleration limit of the ### setDecelerationRateLimit -By using `API::setDecelerationRateLimit`, you can set the deceleration rate limit of the entity. +By using `API::setDecelerationRateLimit`, you can set the deceleration rate limit of the entity immediately. | Value | Type | Description | | ----------------- | ------ | -------------------------------------- | @@ -183,7 +195,7 @@ By using `API::setDecelerationRateLimit`, you can set the deceleration rate limi ### setVelocityLimit -By using `API::setVelocityLimit`, you can set the velocity limit of the entity. +By using `API::setVelocityLimit`, you can set the velocity limit of the entity immediately. | Value | Type | Description | | --------------- | ------ | ----------------------------- | diff --git a/docs/developer_guide/images/Longitudinal_control/requestSpeedChange.png b/docs/developer_guide/images/Longitudinal_control/requestSpeedChange.png deleted file mode 100644 index 6b81cf53ba364aac6352bebf871640444bde123a..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 361360 zcmb?@c_7ql-**^ADoUuVC1eRDAro4VUCF*iB5TOLjL~Ve71@_jD%rE|h6-7Sgsdam zSh9^}3}fcKess?JKF_(|`^j^kzjDg?UDx&9zn|~&R9jPd|K4MJckSA>U*+1>8@qNf z!glT2eU)xE_!~W>?i~1o%I${o#98Ktxu3Vg5U<-}!`-^Q8*UTsfcc{IF$s zt?}XD5j~`9)k;ON`t~W%VNLE91`TKMivQz_{_AN-8Tzbf>)scJ(Wmp*Gc7E@#ZP@h zB5oV5#)&k)4h2V@N4nO8V`-7;G}D0>QVzVQnN}z}u&;kjG2q|P?Z2L~O=NK!QP>%`DG2M!I$PPbu7g6wB&e9f>f@dLfsjE 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