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Releases: tier4/scenario_simulator_v2

1.1.0

22 Feb 02:54
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1.1.0
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1.1.0

Description

Abstract

We started to consider road slope in lanelet2 map.
In this pull-request, we consider about gravity effect at road slope in ego vehicle simulation.

Background

In horizontal road, gravity has no effect to vehicle behavior.
But in the sloped road, the gravity has some horizontal component to the road like the figure below.
image

This gravity component effects to the vehicle simulation behavior especially like acceleration and deceleration.

Details

The algorithm to consider sloped road

  1. Do lane-matching and get s value in the lane coordinate
  2. Calculate road slope angle by centerpoint of the lane at matched s value.
  3. Calculate the road horizontal component of gravity
  4. Apply the acceleration calculated in step 3 to the longitudinal acceleration input of the vehicle model.

consider_acceleration_by_road_slope flag to toggle function

It is togglable to enable and disable the consideration of sloped road in ego vehicle simulation by using consider_acceleration_by_road_slope flag.
The flag can be set in arguments of ros2 launch like below.

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe \
  record:=false \
  scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle \
  consider_acceleration_by_road_slope:=true

To ensure backward-compatibility, this flag is set to false defaultly.

Subsequent changes

This pull-request does not implement all consideration to sloped road.
I am implementing the remaining changes on #1103.
By the way, the flag name consider_acceleration_by_road_slope is counterpart to consider_pose_by_road_slope, which will be introduced in #1103.

References

pull-requests that were the basis for the change

Destructive Changes

There is no destructive changes because default behavior has not changed.

The regression test are done with default flag ( INTERNAL LINK )

Known Limitations

In this pull-request, we did not considered about lane lateral slope and lateral accelerration effect to vehicle model.
If simple_planning_simulator in autoware.universe started to support them, scenario_simulator_v2 will start that too.

Related Issues

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1.0.3

21 Feb 08:08
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1.0.3
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1.0.3

Description

  • Update .github/workflows/Release.yaml to avoid shell command substituion on Markdown content

Abstract

Existing workflow directly expands Markdown content to shell command. If expanded Markdown contains code spans like this, workflow applys command substitution on them. This PR update workflow to store Markdown content before generating release_description.txt to avoid command substitution.

Background

When PR description is written like this:
image

PR description is expanded into command in GitHub Actions,
image

and command substitution is conducted.
image

Details

Assign ${{ github.event.pull_request.body }} to the environment variable $PULL_REQUEST_BODY and output it to release_description.txt.

References

https://github.com/tier4/scenario_simulator_v2/actions/runs/7985003102/job/21802726254

Destructive Changes

N/A

Known Limitations

N/A

Related Issues

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1.0.2

21 Feb 07:38
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1.0.2
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1.0.2

Description

Abstract

Adding documentation about pose calculation in the lane coordinate system.

Background

Pose calculation in the lane coordinate system is a very complex process, and only those who were involved in the implementation of the system had a complete grasp of it.
Therefore, it was decided that it was necessary to document and organize the specifications and current behavior.

Details

Adding documentation about pose calculation in the lane coordinate system.
This document is written primarily for the developers of scenario_simulator_v2.

References

Issue #1189 found in the process of writing this document.
This pull request does not fix #1189 , this pull request is just adding document.

Destructive Changes

This pull requests only contains documentation, so it does not change the behavior of this software.

Known Limitations

N/A

Related Issues

#1189

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1.0.1

15 Feb 07:58
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1.0.1
5f19d39
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1.0.1

Description

Abstract

To realize a trigger that fires when label is added or removed from pull-request, you should use trigger with and types instead of trigger.

Background

N/A

Details

N/A

References

Destructive Changes

N/A

Known Limitations

N/A

Related Issues

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1.0.0

14 Feb 08:40
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1.0.0
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1.0.0

Description

Abstract

  • Update Pull Request template.
  • Added github actions needed for the new release flow.
  • Immediately after this Pull Request is merged, the version will be version 1.0.0.

Background

The development team will require stricter version control in the future to ensure backward compatibility of the traffic_simulator API.
Accordingly, releases will be automated from now on, and will be done by labeling and instructing Pull Requests.

Details

After applying the new release flow, you can put one of the labels , , or on the Pull Request, and when the Pull Request is merged with master, the version of scenario_simulator_v2 is bumped according to the label type.

The commit history after applying the new release flow is shown in the figure below.

Screenshot from 2024-02-05 12-10-07

In the new release flow, the master tracking confirmation of branches using merge queue and the determination of the executability of release actions will be added.

Inside the merge queue, the release action is only judged as executable, and the actual release work is executed on the master branch after merge.

GitHub Actions for release are controlled in parallel to avoid data conflicts.

Destructive Changes

This Pull Request only adds the GitHub Actions, templates, etc. necessary for the release, and there are no disruptive changes with respect to the C++ API, scenario format, etc.

However, the existing release flow will be fundamentally changed and semantic versions will not be compatible.

Related Issues

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0.9.0

21 Dec 03:49
@hakuturu583 hakuturu583
0.9.0
ffd8a7d
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0.9.0

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lchojnack, yamacir-kit, and 12 other contributors
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0.8.0

05 Sep 07:33
@hakuturu583 hakuturu583
0.8.0
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0.8.0

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lchojnack, yamacir-kit, and 5 other contributors
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0.7.0

26 Jul 12:03
@hakuturu583 hakuturu583
0.7.0
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0.7.0

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yamacir-kit, hakuturu583, and 5 other contributors
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0.6.8

09 May 04:30
@hakuturu583 hakuturu583
0.6.8
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0.6.8

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yamacir-kit, hakuturu583, and 10 other contributors
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0.6.7

17 Nov 10:01
@hakuturu583 hakuturu583
0.6.7
5414771
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0.6.7

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Full Changelog: 0.6.6...0.6.7

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yamacir-kit, hakuturu583, and 6 other contributors
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