feat(#195): add a distance publisher for the stop line and next waypoint #197
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feat(#63): delete file
…-and-evaluate' into 63-feature-opendrive-map-extract-and-evaluate
…://github.com/ll7/paf22 into 154-feature-combine-navigation-data-and-trajectory
…com/ll7/paf22 into 154-feature-combine-navigation-data-and-trajectory # Conflicts: # code/planning/launch/planning.launch
…ata-and-trajectory' into 154-feature-combine-navigation-data-and-trajectory # Conflicts: # code/planning/src/planning/preplanner.py
…-and-road-option-of-next-global-way-point-and-distance-to-next-intersection # Conflicts: # code/perception/launch/perception.launch # code/test_planning_top/behavior_agent/src/behavior_agent/behaviours/road_features.py
…onment-for-decision-making-tests # Conflicts: # code/agent/config/dev_objects.json # code/perception/launch/perception.launch # code/planning/behavior_agent/src/behavior_agent/behaviours/lane_change.py # code/planning/global_planner/src/Town12.xodr # code/planning/global_planner/src/preplanning_2D_tester.py # code/planning/global_planner/src/town0.xml # code/planning/global_planner/src/town1.xodr # code/planning/global_planner/src/visualizer.py
…into 195-feature-create-nodes-to-publish-distance-and-road-option-of-next-global-way-point-and-distance-to-next-intersection # Conflicts: # code/planning/behavior_agent/src/behavior_agent/behaviours/intersection.py # code/planning/behavior_agent/src/behavior_agent/behaviours/topics2blackboard.py # code/planning/global_planner/launch/global_planner.launch # code/planning/global_planner/src/preplanner.py
…ish-distance-and-road-option-of-next-global-way-point-and-distance-to-next-intersection' into 195-feature-create-nodes-to-publish-distance-and-road-option-of-next-global-way-point-and-distance-to-next-intersection # Conflicts: # code/perception/launch/perception.launch
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Just tested it, works great! :) Maybe some documentation about this topic would be great!
Is it intended that this PR contains at least #211? If yes, we should keep in mind that we have to review / merge this issue first.
Furthermore it seems like the car runs very fast. Is this intended?
Time to test and review 30 min
There is another branch(#215) incorporation #211 and this branch to do some integration tests. In this branch the velocity tuning is done as well. |
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I just let the car drive some time, it seems to be stuck in this situation. Could this be caused by this PR? Only error I could find in the console is this: |
I haven't seen this error before, it might be caused by the new changes but should not be caused by this PR. |
…ish-distance-and-road-option-of-next-global-way-point-and-distance-to-next-intersection' into 195-feature-create-nodes-to-publish-distance-and-road-option-of-next-global-way-point-and-distance-to-next-intersection
…ption-of-next-global-way-point-and-distance-to-next-intersection' of https://github.com/ll7/paf22 into 195-feature-create-nodes-to-publish-distance-and-road-option-of-next-global-way-point-and-distance-to-next-intersection
JoKircher
deleted the
195-feature-create-nodes-to-publish-distance-and-road-option-of-next-global-way-point-and-distance-to-next-intersection
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Description
Old description: Adds two publisher for the distance to the stop line of an intersection and the next way point. The stop line is indicated by the way point before the intersection. This will be used by the decision tree.
New description: Adds two publisher for the distance to the stop line of an intersection and the distance to the next planned lane change. The behaviour for approaching and entering an intersection is optimized. The behaviour before approaching and entering a lane change was added to the behaviour tree and also optimized.
The behaviour with the Lidar sensor is implemented. To check if we can enter an intersection and enter a lane change event, the distance is checked through the Lidar topic.
The stop line behaviour is implemented. There is no extra topic which publishes the distance to the next stop sign because the xodr file "signal" part only refers to ground truth traffic sign position data which cannot be used. The agent stops before every intersection and every possible traffic sign to check for other cars. Because of that the stop sign behaviour is also covered in this PR.
For testing the environment was switched to the dev environment (town 12).
Time invested
Josef Kircher: 3 h
Simon Erlbacher: 15 h
Niklas Vogel: 15h
Type of change
Please delete options that are not relevant.
Does this PR introduce a breaking change?
Approved decision making with all current informations.
Checklist: