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

• tier4/zmqpp_vendor#9

Destructive Changes

• Install directory of zmqpp is changed

Related Issues

16.7.1

Description

Abstract

This PR introduces several improvements and fixes:

1. Isolated Protobuf output into project-specific directories.
   1. Updated include paths for simulation_api_schema.pb.h to use simulation_interface/.
2. Added ament_cmake_auto as a required dependency where it was originally necessary but missing.
3. Removed unused test dependencies.

Details

Protobuf Output Isolation

• Protobuf-generated files are now output to ${CMAKE_BINARY_DIR}/proto/${PROJECT_NAME} instead of root include/.
• Added file(MAKE_DIRECTORY ...) to ensure the output directory exists before generation.

Addition of ament_cmake_auto

• Added ament_cmake_auto to package.xml files where it was originally required but missing.

Removal of Unused Test Dependencies

• Removed unused test dependencies such as ament_cmake_clang_format and ament_cmake_pep257 from package.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

Regression Test: OK

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

#1638

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

Regression Test: OK

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.

https://github.com/tier4/scenario_simulator_v2/blob/284f34b11f701e917bf8b4bf018fab3e792dc7db/simulation/do_nothing_plugin/include/do_nothing_plugin/plugin.hpp#L56

Details

Implement DoNothingBehaviorPlugin::setRouteLanelets and DoNothingBehaviorPlugin::getRouteLanelets functions.

References

Internal Link

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 with TrafficLightGroupArray message type
• Maintained correct entries for both awf/universe/20240605|20250130 and awf/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

• https://github.com/thollander/actions-comment-pull-request
• https://github.com/mshick/add-pr-comment

Related Issues