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feat: add autoware_velocity_smoother node
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Signed-off-by: Takayuki Murooka <[email protected]>
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takayuki5168 committed Dec 19, 2024
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183 changes: 183 additions & 0 deletions planning/autoware_velocity_smoother/CHANGELOG.rst
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package autoware_velocity_smoother
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.40.0 (2024-12-12)
-------------------
* Merge branch 'main' into release-0.40.0
* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
* chore(package.xml): bump version to 0.39.0
* fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff
---------
Co-authored-by: Yutaka Kondo <[email protected]>
* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 <https://github.com/autowarefoundation/autoware.universe/issues/9502>`_)
* change max acceleration and max jerk according to external velocity request
* modify external velocity limit selector
* fix external velocity limit selector
* fix format
---------
* 0.39.0
* update changelog
* Merge commit '6a1ddbd08bd' into release-0.39.0
* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
* unify package.xml version to 0.37.0
* remove system_monitor/CHANGELOG.rst
* add changelog
* 0.38.0
---------
* refactor(qp_interface): prefix package and namespace with autoware (`#9236 <https://github.com/autowarefoundation/autoware.universe/issues/9236>`_)
* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)
-------------------
* Merge commit '6a1ddbd08bd' into release-0.39.0
* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
* unify package.xml version to 0.37.0
* remove system_monitor/CHANGELOG.rst
* add changelog
* 0.38.0
---------
* refactor(qp_interface): prefix package and namespace with autoware (`#9236 <https://github.com/autowarefoundation/autoware.universe/issues/9236>`_)
* Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)
-------------------
* unify package.xml version to 0.37.0
* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 <https://github.com/autowarefoundation/autoware.universe/issues/8958>`_)
* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 <https://github.com/autowarefoundation/autoware.universe/issues/8088>`_)
Co-authored-by: kosuke55 <[email protected]>
* perf(motion_velocity_smoother): remove some heavy debug logging (`#8798 <https://github.com/autowarefoundation/autoware.universe/issues/8798>`_)
remove some heavy logging in the velocity smoother
* fix(autoware_velocity_smoother): fix unusedFunction (`#8649 <https://github.com/autowarefoundation/autoware.universe/issues/8649>`_)
fix:unusedFunction
* fix(autoware_velocity_smoother): fix variableScope (`#8442 <https://github.com/autowarefoundation/autoware.universe/issues/8442>`_)
fix:variableScope
* fix(autoware_velocity_smoother): fix unreadVariable (`#8364 <https://github.com/autowarefoundation/autoware.universe/issues/8364>`_)
fix:unreadVariable
* fix(autoware_velocity_smoother): fix passedByValue (`#8207 <https://github.com/autowarefoundation/autoware.universe/issues/8207>`_)
* fix:passedByValue
* fix:clang format
---------
* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 <https://github.com/autowarefoundation/autoware.universe/issues/8030>`_)
* not resample debug_trajectories if not published
* update dependant packages
---------
* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 <https://github.com/autowarefoundation/autoware.universe/issues/8028>`_)
* perf(velocity_smoother): use ProxQP for faster optimization
* consider max_iteration
* disable warm start
* fix test
---------
* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 <https://github.com/autowarefoundation/autoware.universe/issues/8161>`_)
fix(velocity_smoother): float type of processing time was wrong
* fix(autoware_velocity_smoother): fix constVariableReference (`#8060 <https://github.com/autowarefoundation/autoware.universe/issues/8060>`_)
fix:constVariableReference
* fix(autoware_velocity_smoother): fix constParameterReference (`#8043 <https://github.com/autowarefoundation/autoware.universe/issues/8043>`_)
fix:constParameterReference
* chore(velocity_smoother): add maintainer (`#8121 <https://github.com/autowarefoundation/autoware.universe/issues/8121>`_)
add maintainer
* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 <https://github.com/autowarefoundation/autoware.universe/issues/7443>`_)
* refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation.
* use raw shared ptr in PollingPolicy::NEWEST
* update
* fix
* Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
Co-authored-by: danielsanchezaran <[email protected]>
---------
Co-authored-by: danielsanchezaran <[email protected]>
* fix(autoware_velocity_smoother): fix shadowVariablefix:shadowVariable (`#7950 <https://github.com/autowarefoundation/autoware.universe/issues/7950>`_)
fix:shadowVariable
* feat(velocity_smoother): add time_keeper (`#8026 <https://github.com/autowarefoundation/autoware.universe/issues/8026>`_)
* refactor(velocity_smoother): change method to take data for external velocity (`#7810 <https://github.com/autowarefoundation/autoware.universe/issues/7810>`_)
refactor external velocity
* fix(autoware_velocity_smoother): fix duplicateBreak warning (`#7699 <https://github.com/autowarefoundation/autoware.universe/issues/7699>`_)
* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 <https://github.com/autowarefoundation/autoware.universe/issues/7594>`_)
* fix(autoware_velocity_smoother): fix unusedVariable warning (`#7585 <https://github.com/autowarefoundation/autoware.universe/issues/7585>`_)
fix unusedVariable warning
* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 <https://github.com/autowarefoundation/autoware.universe/issues/7539>`_)
refactor(motion_utils): add autoware prefix and include dir
* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 <https://github.com/autowarefoundation/autoware.universe/issues/7538>`_)
Co-authored-by: kosuke55 <[email protected]>
* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 <https://github.com/autowarefoundation/autoware.universe/issues/7533>`_)
* refactor(test_utils): move to common folder (`#7158 <https://github.com/autowarefoundation/autoware.universe/issues/7158>`_)
* Move autoware planning test manager to autoware namespace
* fix package share directory for behavior path planner
* renaming files and directory
* rename variables that has planning_test_utils in its name.
* use autoware namespace for test utils
* move folder to common
* update .pages file
* fix test error
* removed obstacle velocity limiter test artifact
* remove namespace from planning validator, it has using keyword
---------
* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 <https://github.com/autowarefoundation/autoware.universe/issues/7353>`_)
* chore(autoware_vehicle_info_utils): rename header
* chore(bpp-common): vehicle info
* chore(path_optimizer): vehicle info
* chore(velocity_smoother): vehicle info
* chore(bvp-common): vehicle info
* chore(static_centerline_generator): vehicle info
* chore(obstacle_cruise_planner): vehicle info
* chore(obstacle_velocity_limiter): vehicle info
* chore(mission_planner): vehicle info
* chore(obstacle_stop_planner): vehicle info
* chore(planning_validator): vehicle info
* chore(surround_obstacle_checker): vehicle info
* chore(goal_planner): vehicle info
* chore(start_planner): vehicle info
* chore(control_performance_analysis): vehicle info
* chore(lane_departure_checker): vehicle info
* chore(predicted_path_checker): vehicle info
* chore(vehicle_cmd_gate): vehicle info
* chore(obstacle_collision_checker): vehicle info
* chore(operation_mode_transition_manager): vehicle info
* chore(mpc): vehicle info
* chore(control): vehicle info
* chore(common): vehicle info
* chore(perception): vehicle info
* chore(evaluator): vehicle info
* chore(freespace): vehicle info
* chore(planning): vehicle info
* chore(vehicle): vehicle info
* chore(simulator): vehicle info
* chore(launch): vehicle info
* chore(system): vehicle info
* chore(sensing): vehicle info
* fix(autoware_joy_controller): remove unused deps
---------
* feat(autoware_velocity_smoother): use polling subscriber (`#7216 <https://github.com/autowarefoundation/autoware.universe/issues/7216>`_)
feat(motion_velocity_smoother): use polling subscriber
* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 <https://github.com/autowarefoundation/autoware.universe/issues/7354>`_)
* chore(autoware_velocity_smoother): update namespace
* chore(autoware_path_optimizer): update namespace
---------
* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 <https://github.com/autowarefoundation/autoware.universe/issues/7246>`_)
Co-authored-by: Cynthia Liu <[email protected]>
Co-authored-by: NorahXiong <[email protected]>
Co-authored-by: beginningfan <[email protected]>
* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 <https://github.com/autowarefoundation/autoware.universe/issues/7202>`_)
* chore(autoware_path_optimizer): rename package and namespace
* chore(autoware_static_centerline_generator): rename package and namespace
* chore: update module name
* chore(autoware_velocity_smoother): rename package and namespace
* chore(tier4_planning_launch): update module name
* chore: update module name
* fix: test
* fix: test
* fix: test
---------
* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, kobayu858

0.26.0 (2024-04-03)
-------------------
64 changes: 64 additions & 0 deletions planning/autoware_velocity_smoother/CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
project(autoware_velocity_smoother)

find_package(autoware_cmake REQUIRED)
autoware_package()

find_package(Boost REQUIRED)
find_package(eigen3_cmake_module REQUIRED)
find_package(Eigen3 REQUIRED)

include_directories(
SYSTEM
${EIGEN3_INCLUDE_DIR}
)

set(MOTION_VELOCITY_SMOOTHER_SRC
src/node.cpp
)

set(SMOOTHER_SRC
src/smoother/smoother_base.cpp
src/smoother/jerk_filtered_smoother.cpp
src/trajectory_utils.cpp
src/resample.cpp
)

ament_auto_add_library(smoother SHARED
${SMOOTHER_SRC}
)

ament_auto_add_library(${PROJECT_NAME}_node SHARED
${MOTION_VELOCITY_SMOOTHER_SRC}
)

target_link_libraries(${PROJECT_NAME}_node
smoother
)

rclcpp_components_register_node(${PROJECT_NAME}_node
PLUGIN "autoware::velocity_smoother::VelocitySmootherNode"
EXECUTABLE velocity_smoother_node
)

if(BUILD_TESTING)
ament_add_ros_isolated_gmock(test_smoother_functions
test/test_smoother_functions.cpp
)
target_link_libraries(test_smoother_functions
smoother
)
ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
test/test_velocity_smoother_node_interface.cpp
)
target_link_libraries(test_${PROJECT_NAME}
${PROJECT_NAME}_node
)
endif()


ament_auto_package(
INSTALL_TO_SHARE
launch
config
)
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