fix(crosswalk): update the previous stop pose before using it #11699
Conversation
Signed-off-by: Maxime CLEMENT <[email protected]>
maxime-clem
requested review from
kyoichi-sugahara,
satoshi-ota,
shmpwk,
soblin,
takayuki5168,
tkimura4 and
yuki-takagi-66
as code owners
github-actions
bot
added
the
component:planning
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
kyoichi-sugahara
added
the
run:build-and-test-differential
Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #11699 +/- ##
==========================================
+ Coverage 17.83% 18.14% +0.30%
==========================================
Files 1746 1747 +1
Lines 122311 122576 +265
Branches 42971 43021 +50
==========================================
+ Hits 21819 22242 +423
- Misses 82191 82391 +200
+ Partials 18301 17943 -358
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
|
| previous_stop_pose_->stop_pose = | ||
| motion_utils::calcInterpolatedPose(ego_path.points, previous_stop_arc_length); | ||
| const auto dist_to_previous_stop = get_distance_to_stop(previous_stop_pose_); | ||
| const auto use_previous_stop_pose = |
There was a problem hiding this comment.
I don't think this good enough.
Keeping the first position is not works well in some situation.
I'll comments soon.
There was a problem hiding this comment.
the logic to use the previous stop pose and to keep the first stop pose among the previous and the new ones is already implemented. This PR is only to fix an issue when using the previous stop pose.
There was a problem hiding this comment.
Sorry for the late comment.
I realize this is an issue from the previous PR, not this one, and I think this PR improves the situation.
3 participants
Description
Fix an issue with the
crosswalkthat could insert a stop pose that was calculated for a previous path, leading to yaw or distance deviation issues.This PR fixes the issue by always re-projecting the stop pose on the updated path.
Related links
Parent Issue:
How was this PR tested?
Psim + rosbag
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.