Releases: tier4/scenario_simulator_v2
16.7.4
Description
Abstract
Fixed DoNothingBehavior to initialize twist and accel values to zero when not in FollowTrajectory state, ensuring proper StandStillDuration calculations for stopped entities.
Background
Previously, when DoNothingBehavior was not following a trajectory, the twist and accel values were not being reset to zero. This caused issues with StandStillDuration calculations, as the system would incorrectly measure standstill duration even when the entity appeared to be stopped but still had non-zero
velocity values internally.
Details
- Modified the
update
method in DoNothingBehavior plugin to explicitly set twist and accel to zero when in "do_nothing" state - Used geometry_msgs::build functions for consistent initialization with existing code style
References
N/A
Destructive Changes
N/A
Known Limitations
N/A
🤖 Generated with Claude Code
Related Issues
16.7.3
Description
Abstract
Return "follow_polyline_trajectory" behavior in do_nothing behavior plugin when following a polyline trajectory request.
Background
The do_nothing behavior plugin previously always returned "do_nothing" as its current action, even when it was actively following a polyline trajectory. This made it difficult to distinguish between actual do-nothing behavior and trajectory-following behavior.
Details
This PR modifies the DoNothingBehavior
plugin to properly report its current action based on the actual behavior being executed:
- Changed
behavior
from a static local variable to a class member variable - When
Request::FOLLOW_POLYLINE_TRAJECTORY
is active, the plugin now returns "follow_polyline_trajectory" - When the trajectory is completed or no trajectory request exists, it returns "do_nothing"
- Updated the documentation comment in the header file to reflect that the method no longer always returns "do_nothing"
This change improves observability by allowing external systems to correctly identify when the entity is following a trajectory versus truly doing nothing.
References
N/A
Destructive Changes
N/A
Known Limitations
N/A
🤖 Generated with Claude Code
Co-Authored-By: Claude [email protected]
Related Issues
16.7.2
Description
Abstract
Use ament_vendor for zmqpp library, instead of ExternalProject.
Details
This section is same as tier4/zmqpp_vendor#9
References
Destructive Changes
- Install directory of zmqpp is changed
Related Issues
16.7.1
Description
Abstract
This PR introduces several improvements and fixes:
- Isolated Protobuf output into project-specific directories.
- Updated include paths for
simulation_api_schema.pb.h
to usesimulation_interface/
.
- Updated include paths for
- Added
ament_cmake_auto
as a required dependency where it was originally necessary but missing. - Removed unused test dependencies.
Details
Protobuf Output Isolation
- Protobuf-generated files are now output to
${CMAKE_BINARY_DIR}/proto/${PROJECT_NAME}
instead of rootinclude/
. - Added
file(MAKE_DIRECTORY ...)
to ensure the output directory exists before generation.
Addition of ament_cmake_auto
- Added
ament_cmake_auto
topackage.xml
files where it was originally required but missing.
Removal of Unused Test Dependencies
- Removed unused test dependencies such as
ament_cmake_clang_format
andament_cmake_pep257
frompackage.xml
files of static map packages.
Destructive Changes
Users of simulation_api_schema.pb.h
should prepend simulation_interface/
.
Related Issues
16.7.0
Description
Abstract
This pull-request adds record_option
argument for scenario_test_runner
.
The option is forwarded into openscenario_interpreter
and finally received by ros2 bag record
command.
Background
Currently, openscenario_interpreter
executes ros2 bag record
and you can specify --storage
argument from record_storage_id
argument of scenario_test_runner
.
But recently, some developers or users want to specify other arguments like --exclude
or --compression-xxx
.
Details
None
References
Destructive Changes
None
Known Limitations
If you specify already used options in scenario_simulator_v2
, --output/-o
and --storage/-s
, in record_option
argument, scenario_simulator_v2 may result in unexpected behavior.
Related Issues
16.6.1
Description
Abstract
Delete document about workflow and add alternative way
Background
A user has reffered old document about workflow and repored that it did not work well.
#1638
The workflow
argument has deleted in #1223
Details
With pull-request, the overview page of scenario_test_runner will be like below.
References
None
Destructive Changes
None
Known Limitations
None
Related Issues
16.6.0
Description
Abstract
In this pull-request, I introduce noise v3 configuration for /perception/object_recognition/detection/objects
topic.
The noise v3 configuration is an extension of v2 and has exactly the same noise capabilities, but now you can have multiple v3 noise configurations, allowing you to apply different noise configurations to specific entity groups.
The video below shows each detected entity is applied a different type of noise by noise v3.
noise_v3.mp4
Background
In previous noise configurations, we set one noise configuration to all detected entities.
But users want to set different configurations for defferent entity types.
Details
For noise configuration details, please see Parameter.md.
workaround to use unknown name ros2 parameters
In noise v3 configurations, config name is user-defined.
So, we cannot hard-code the full name of parameters.
Without prior declaration, we cannot even know the existence of parameters read from YAML through the rclcpp API, so not being able to know the full path in advance was a major implementation limitation.
To get around this problem, I use automatically_declare_parameters_from_overrides
option in rclcpp::NodeOptions
.
By using this option, it becomes possible to use parameters without prior declaration, and you can find out the user-defined namespace names just by looking at the list of parameters.
References
Destructive Changes
None
Known Limitations
None
Related Issues
16.5.11
Description
Abstract
Fixed an issue where the lane coordinate system could not be obtained while using DoNothingBehavior
Background
Lane coordinate system calculation always fails when FolloeTrajectoryAction is executed inside DoNothingBehaviorPlugin
DoNothingBehaviorPlugin::setRouteLanelets
and DoNothingBehaviorPlugin::getRouteLanelets
functions are NOP.
Details
Implement DoNothingBehaviorPlugin::setRouteLanelets
and DoNothingBehaviorPlugin::getRouteLanelets
functions.
References
tier4/sim_evaluation_tools#536
Destructive Changes
N/A
Known Limitations
N/A
Related Issues
16.5.10
Abstract
Remove duplicate /v2x/traffic_signals
table row in Communication.md documentation.
Background
The documentation table contained a duplicate entry for /v2x/traffic_signals
with identical content, causing confusion in the table structure.
Details
- Removed duplicate
/v2x/traffic_signals
row withTrafficLightGroupArray
message type - Maintained correct entries for both
awf/universe/20240605|20250130
andawf/universe/20230906
architecture types - Cleaned up table formatting
Link to Devin run: https://app.devin.ai/sessions/edfbce1e0a004967985cb50d4320b55b
Requested by: [email protected]
Related Issues
16.5.9
Description
Abstract
Use mshick/add-pr-comment to handle PR messages
Background
Some messages made by GitHub Actions are overwritten sometimes accidentally.
Details
Use mshick/add-pr-comment which is capable of checking message marker to prevent overwrite message.
References
Two candidates