From a5aeb82f54a945ae249f8305b0d23f1b790f1a54 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 24 Dec 2024 16:12:19 +0900 Subject: [PATCH 1/8] fix(diagnostic_graph_aggregator): remove unused message alias (#8722) feat(diagnostic_graph_aggregator): remove unused message alias --- system/diagnostic_graph_aggregator/test/src/test2.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/system/diagnostic_graph_aggregator/test/src/test2.cpp b/system/diagnostic_graph_aggregator/test/src/test2.cpp index 4a0199a89f37e..169e3017f8cd4 100644 --- a/system/diagnostic_graph_aggregator/test/src/test2.cpp +++ b/system/diagnostic_graph_aggregator/test/src/test2.cpp @@ -29,7 +29,6 @@ using namespace diagnostic_graph_aggregator; // NOLINT(build/namespaces) using diagnostic_msgs::msg::DiagnosticArray; using diagnostic_msgs::msg::DiagnosticStatus; -using tier4_system_msgs::msg::DiagnosticGraph; constexpr auto OK = DiagnosticStatus::OK; constexpr auto WARN = DiagnosticStatus::WARN; From 3dc9605d9354260ae540d161094044c56f6c98f0 Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Tue, 24 Dec 2024 16:45:47 +0900 Subject: [PATCH 2/8] feat(autoware_traffic_light_arbiter): add current time validation (#9747) * add current time validation Signed-off-by: MasatoSaeki * style(pre-commit): autofix * change ros parameter name Signed-off-by: MasatoSaeki * style(pre-commit): autofix * add validation with absolute function Signed-off-by: MasatoSaeki * add timestamp of topic in test Signed-off-by: MasatoSaeki * fix ci error Signed-off-by: MasatoSaeki --------- Signed-off-by: MasatoSaeki Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../autoware_traffic_light_arbiter/README.md | 5 +++-- .../config/traffic_light_arbiter.param.yaml | 1 + .../traffic_light_arbiter.hpp | 1 + .../src/traffic_light_arbiter.cpp | 19 +++++++++++++++++-- .../test/test_node.cpp | 10 ++++++++++ 5 files changed, 32 insertions(+), 4 deletions(-) diff --git a/perception/autoware_traffic_light_arbiter/README.md b/perception/autoware_traffic_light_arbiter/README.md index 619154e1e183b..f27afab62818e 100644 --- a/perception/autoware_traffic_light_arbiter/README.md +++ b/perception/autoware_traffic_light_arbiter/README.md @@ -43,7 +43,8 @@ The table below outlines how the matching process determines the output based on | Name | Type | Default Value | Description | | --------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| `external_time_tolerance` | double | 5.0 | The duration in seconds an external message is considered valid for merging | -| `perception_time_tolerance` | double | 1.0 | The duration in seconds a perception message is considered valid for merging | +| `external_delay_tolerance` | double | 5.0 | The duration in seconds an external message is considered valid for merging in comparison with current time | +| `external_time_tolerance` | double | 5.0 | The duration in seconds an external message is considered valid for merging in comparison with a timestamp of perception message | +| `perception_time_tolerance` | double | 1.0 | The duration in seconds a perception message is considered valid for merging in comparison with a timestamp of external message | | `external_priority` | bool | false | Whether or not externals signals take precedence over perception-based ones. If false, the merging uses confidence as a criteria | | `enable_signal_matching` | bool | false | Decide whether to validate the match between perception signals and external signals. If set to true, verify that the colors match and only publish them if they are identical | diff --git a/perception/autoware_traffic_light_arbiter/config/traffic_light_arbiter.param.yaml b/perception/autoware_traffic_light_arbiter/config/traffic_light_arbiter.param.yaml index dfe12ff352f16..36e1b8593bebc 100644 --- a/perception/autoware_traffic_light_arbiter/config/traffic_light_arbiter.param.yaml +++ b/perception/autoware_traffic_light_arbiter/config/traffic_light_arbiter.param.yaml @@ -1,5 +1,6 @@ /**: ros__parameters: + external_delay_tolerance: 5.0 external_time_tolerance: 5.0 perception_time_tolerance: 1.0 external_priority: false diff --git a/perception/autoware_traffic_light_arbiter/include/autoware/traffic_light_arbiter/traffic_light_arbiter.hpp b/perception/autoware_traffic_light_arbiter/include/autoware/traffic_light_arbiter/traffic_light_arbiter.hpp index ccd928d52b367..916bd04a6bdd0 100644 --- a/perception/autoware_traffic_light_arbiter/include/autoware/traffic_light_arbiter/traffic_light_arbiter.hpp +++ b/perception/autoware_traffic_light_arbiter/include/autoware/traffic_light_arbiter/traffic_light_arbiter.hpp @@ -51,6 +51,7 @@ class TrafficLightArbiter : public rclcpp::Node std::unique_ptr> map_regulatory_elements_set_; + double external_delay_tolerance_; double external_time_tolerance_; double perception_time_tolerance_; bool external_priority_; diff --git a/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp b/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp index e71629fa5dd28..8ce002780813f 100644 --- a/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp +++ b/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp @@ -20,6 +20,7 @@ #include #include +#include #include #include #include @@ -70,6 +71,7 @@ namespace autoware TrafficLightArbiter::TrafficLightArbiter(const rclcpp::NodeOptions & options) : Node("traffic_light_arbiter", options) { + external_delay_tolerance_ = this->declare_parameter("external_delay_tolerance", 5.0); external_time_tolerance_ = this->declare_parameter("external_time_tolerance", 5.0); perception_time_tolerance_ = this->declare_parameter("perception_time_tolerance", 1.0); external_priority_ = this->declare_parameter("external_priority", false); @@ -119,7 +121,7 @@ void TrafficLightArbiter::onPerceptionMsg(const TrafficSignalArray::ConstSharedP latest_perception_msg_ = *msg; if ( - (rclcpp::Time(msg->stamp) - rclcpp::Time(latest_external_msg_.stamp)).seconds() > + std::abs((rclcpp::Time(msg->stamp) - rclcpp::Time(latest_external_msg_.stamp)).seconds()) > external_time_tolerance_) { latest_external_msg_.traffic_light_groups.clear(); } @@ -129,10 +131,16 @@ void TrafficLightArbiter::onPerceptionMsg(const TrafficSignalArray::ConstSharedP void TrafficLightArbiter::onExternalMsg(const TrafficSignalArray::ConstSharedPtr msg) { + if (std::abs((this->now() - rclcpp::Time(msg->stamp)).seconds()) > external_delay_tolerance_) { + RCLCPP_WARN_THROTTLE( + get_logger(), *get_clock(), 5000, "Received outdated V2X traffic signal messages"); + return; + } + latest_external_msg_ = *msg; if ( - (rclcpp::Time(msg->stamp) - rclcpp::Time(latest_perception_msg_.stamp)).seconds() > + std::abs((rclcpp::Time(msg->stamp) - rclcpp::Time(latest_perception_msg_.stamp)).seconds()) > perception_time_tolerance_) { latest_perception_msg_.traffic_light_groups.clear(); } @@ -229,6 +237,13 @@ void TrafficLightArbiter::arbitrateAndPublish(const builtin_interfaces::msg::Tim } pub_->publish(output_signals_msg); + + const auto latest_time = + std::max(rclcpp::Time(latest_perception_msg_.stamp), rclcpp::Time(latest_external_msg_.stamp)); + if (rclcpp::Time(output_signals_msg.stamp) < latest_time) { + RCLCPP_WARN_THROTTLE( + get_logger(), *get_clock(), 5000, "Published traffic signal messages are not latest"); + } } } // namespace autoware diff --git a/perception/autoware_traffic_light_arbiter/test/test_node.cpp b/perception/autoware_traffic_light_arbiter/test/test_node.cpp index f993ad7cec84d..44b3ca7925fd0 100644 --- a/perception/autoware_traffic_light_arbiter/test/test_node.cpp +++ b/perception/autoware_traffic_light_arbiter/test/test_node.cpp @@ -196,6 +196,9 @@ TEST(TrafficLightArbiterTest, testTrafficSignalOnlyPerceptionMsg) }; test_manager->set_subscriber(output_topic, callback); + // stamp preparation + perception_msg.stamp = test_target_node->now(); + test_manager->test_pub_msg( test_target_node, input_map_topic, vector_map_msg, rclcpp::QoS(1).transient_local()); test_manager->test_pub_msg( @@ -229,6 +232,9 @@ TEST(TrafficLightArbiterTest, testTrafficSignalOnlyExternalMsg) }; test_manager->set_subscriber(output_topic, callback); + // stamp preparation + external_msg.stamp = test_target_node->now(); + test_manager->test_pub_msg( test_target_node, input_map_topic, vector_map_msg, rclcpp::QoS(1).transient_local()); test_manager->test_pub_msg( @@ -268,6 +274,10 @@ TEST(TrafficLightArbiterTest, testTrafficSignalBothMsg) }; test_manager->set_subscriber(output_topic, callback); + // stamp preparation + external_msg.stamp = test_target_node->now(); + perception_msg.stamp = test_target_node->now(); + test_manager->test_pub_msg( test_target_node, input_map_topic, vector_map_msg, rclcpp::QoS(1).transient_local()); test_manager->test_pub_msg( From e60245b2b47d69e795e399a04e1f447a2cdc7042 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Tue, 24 Dec 2024 17:06:03 +0900 Subject: [PATCH 3/8] fix(autoware_pointcloud_preprocessor): fix image display in distortion corrector (#9761) fix: fix image display Signed-off-by: vividf --- .../docs/distortion-corrector.md | 13 +++---------- 1 file changed, 3 insertions(+), 10 deletions(-) diff --git a/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md b/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md index 75cdccc4453ba..032798e9db125 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md @@ -55,16 +55,9 @@ ros2 launch autoware_pointcloud_preprocessor distortion_corrector.launch.xml - `hesai`: (x: 90 degrees, y: 0 degrees) - `others`: (x: 0 degrees, y: 90 degrees) and (x: 270 degrees, y: 0 degrees) - - - - - - - - - -
velodyne azimuth coordinatehesai azimuth coordinate

Velodyne azimuth coordinate

Hesai azimuth coordinate

+| ![Velodyne Azimuth Coordinate](./image/velodyne.drawio.png) | ![Hesai Azimuth Coordinate](./image/hesai.drawio.png) | +| :---------------------------------------------------------: | :---------------------------------------------------: | +| **Velodyne azimuth coordinate** | **Hesai azimuth coordinate** | ## References/External links From f3a258ca04dc0dde9fbb629d05c8c3e12c38e24b Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 24 Dec 2024 17:07:43 +0900 Subject: [PATCH 4/8] fix(lane_change): add metrics to valid paths visualization (#9737) * fix(lane_change): add metrics to valid paths visualization Signed-off-by: Zulfaqar Azmi * fix cpp-check error Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../utils/markers.hpp | 2 +- .../src/utils/markers.cpp | 60 +++++++++++++++---- 2 files changed, 51 insertions(+), 11 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp index 4c2712f053b13..059db8e38300f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp @@ -35,7 +35,7 @@ using autoware::behavior_path_planner::lane_change::Debug; using autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObjects; using visualization_msgs::msg::MarkerArray; MarkerArray showAllValidLaneChangePath( - const std::vector & lanes, std::string && ns); + const std::vector & lane_change_paths, std::string && ns); MarkerArray createLaneChangingVirtualWallMarker( const geometry_msgs::msg::Pose & lane_changing_pose, const std::string & module_name, const rclcpp::Time & now, const std::string & ns); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp index c7514fea01535..3277b8f031486 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp @@ -38,34 +38,74 @@ using autoware::universe_utils::createDefaultMarker; using autoware::universe_utils::createMarkerScale; using geometry_msgs::msg::Point; -MarkerArray showAllValidLaneChangePath(const std::vector & lanes, std::string && ns) +MarkerArray showAllValidLaneChangePath( + const std::vector & lane_change_paths, std::string && ns) { - if (lanes.empty()) { + if (lane_change_paths.empty()) { return MarkerArray{}; } MarkerArray marker_array; - int32_t id{0}; const auto current_time{rclcpp::Clock{RCL_ROS_TIME}.now()}; const auto colors = colors::colors_list(); - const auto loop_size = std::min(lanes.size(), colors.size()); + const auto loop_size = std::min(lane_change_paths.size(), colors.size()); marker_array.markers.reserve(loop_size); + const auto info_prep_to_string = + [](const autoware::behavior_path_planner::lane_change::Info & info) -> std::string { + std::ostringstream ss_text; + ss_text << std::setprecision(3) << "vel: " << info.velocity.prepare + << "[m/s] | lon_acc: " << info.longitudinal_acceleration.prepare + << "[m/s2] | t: " << info.duration.prepare << "[s] | L: " << info.length.prepare + << "[m]"; + return ss_text.str(); + }; + + const auto info_lc_to_string = + [](const autoware::behavior_path_planner::lane_change::Info & info) -> std::string { + std::ostringstream ss_text; + ss_text << std::setprecision(3) << "vel: " << info.velocity.lane_changing + << "[m/s] | lon_acc: " << info.longitudinal_acceleration.lane_changing + << "[m/s2] | lat_acc: " << info.lateral_acceleration + << "[m/s2] | t: " << info.duration.lane_changing + << "[s] | L: " << info.length.lane_changing << "[m]"; + return ss_text.str(); + }; + for (std::size_t idx = 0; idx < loop_size; ++idx) { - if (lanes.at(idx).path.points.empty()) { + int32_t id{0}; + const auto & lc_path = lane_change_paths.at(idx); + if (lc_path.path.points.empty()) { continue; } - + std::string ns_with_idx = ns + "[" + std::to_string(idx) + "]"; const auto & color = colors.at(idx); - Marker marker = createDefaultMarker( - "map", current_time, ns, ++id, Marker::LINE_STRIP, createMarkerScale(0.1, 0.1, 0.0), color); - marker.points.reserve(lanes.at(idx).path.points.size()); + const auto & points = lc_path.path.points; + auto marker = createDefaultMarker( + "map", current_time, ns_with_idx, ++id, Marker::LINE_STRIP, createMarkerScale(0.1, 0.1, 0.0), + color); + marker.points.reserve(points.size()); - for (const auto & point : lanes.at(idx).path.points) { + for (const auto & point : points) { marker.points.push_back(point.point.pose.position); } + auto text_marker = createDefaultMarker( + "map", current_time, ns_with_idx, ++id, visualization_msgs::msg::Marker::TEXT_VIEW_FACING, + createMarkerScale(0.1, 0.1, 0.8), colors::yellow()); + const auto prep_idx = points.size() / 4; + text_marker.pose = points.at(prep_idx).point.pose; + text_marker.pose.position.z += 2.0; + text_marker.text = info_prep_to_string(lc_path.info); + marker_array.markers.push_back(text_marker); + + const auto lc_idx = points.size() / 2; + text_marker.id = ++id; + text_marker.pose = points.at(lc_idx).point.pose; + text_marker.text = info_lc_to_string(lc_path.info); + marker_array.markers.push_back(text_marker); + marker_array.markers.push_back(marker); } return marker_array; From a499a0a0ed7933b6e4cca5a40a9ad9ad70a27c3c Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 24 Dec 2024 17:23:30 +0900 Subject: [PATCH 5/8] fix(autoware_tensorrt_classifier): fix bugprone-exception-escape (#9732) fix: bugprone-error Signed-off-by: kobayu858 --- .../src/tensorrt_classifier.cpp | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp index b24e4fe56e8b8..4aa008e42c966 100644 --- a/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp +++ b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp @@ -193,9 +193,15 @@ TrtClassifier::TrtClassifier( TrtClassifier::~TrtClassifier() { - if (m_cuda) { - if (h_img_) CHECK_CUDA_ERROR(cudaFreeHost(h_img_)); - if (d_img_) CHECK_CUDA_ERROR(cudaFree(d_img_)); + try { + if (m_cuda) { + if (h_img_) CHECK_CUDA_ERROR(cudaFreeHost(h_img_)); + if (d_img_) CHECK_CUDA_ERROR(cudaFree(d_img_)); + } + } catch (const std::exception & e) { + std::cerr << "Exception in TrtClassifier destructor: " << e.what() << std::endl; + } catch (...) { + std::cerr << "Unknown exception in TrtClassifier destructor" << std::endl; } } From 72bc2dcf8aaa79247b3aa6dab09dd900764c44fd Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 24 Dec 2024 17:25:54 +0900 Subject: [PATCH 6/8] fix(autoware_tensorrt_yolox): fix bugprone-exception-escape (#9734) * fix: bugprone-error Signed-off-by: kobayu858 * fix: fmt Signed-off-by: kobayu858 * fix: fmt Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/tensorrt_yolox.cpp | 24 ++++++++++++------- 1 file changed, 15 insertions(+), 9 deletions(-) diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp index 06540f2b7cd19..7e2e327bf6f5e 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp @@ -341,16 +341,22 @@ TrtYoloX::TrtYoloX( TrtYoloX::~TrtYoloX() { - if (use_gpu_preprocess_) { - if (image_buf_h_) { - image_buf_h_.reset(); - } - if (image_buf_d_) { - image_buf_d_.reset(); - } - if (argmax_buf_d_) { - argmax_buf_d_.reset(); + try { + if (use_gpu_preprocess_) { + if (image_buf_h_) { + image_buf_h_.reset(); + } + if (image_buf_d_) { + image_buf_d_.reset(); + } + if (argmax_buf_d_) { + argmax_buf_d_.reset(); + } } + } catch (const std::exception & e) { + std::cerr << "Exception in TrtYoloX destructor: " << e.what() << std::endl; + } catch (...) { + std::cerr << "Unknown exception in TrtYoloX destructor" << std::endl; } } From 3402b6a7c80326967b9b5a61f079d28cf7d26232 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 24 Dec 2024 17:29:16 +0900 Subject: [PATCH 7/8] fix(autoware_behavior_path_static_obstacle_avoidance_module): fix bugprone-branch-clone (#9701) fix: bugprone-error Signed-off-by: kobayu858 --- .../src/scene.cpp | 6 +----- .../src/shift_line_generator.cpp | 4 +--- 2 files changed, 2 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index be4ce4a125c68..48729c9c4fa0c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -233,11 +233,7 @@ void StaticObstacleAvoidanceModule::fillFundamentalData( std::for_each( data.current_lanelets.begin(), data.current_lanelets.end(), [&](const auto & lanelet) { - if (!not_use_adjacent_lane) { - data.drivable_lanes.push_back( - utils::static_obstacle_avoidance::generateExpandedDrivableLanes( - lanelet, planner_data_, parameters_)); - } else if (red_signal_lane_itr->id() != lanelet.id()) { + if (!not_use_adjacent_lane || red_signal_lane_itr->id() != lanelet.id()) { data.drivable_lanes.push_back( utils::static_obstacle_avoidance::generateExpandedDrivableLanes( lanelet, planner_data_, parameters_)); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index 744af35641a59..2aba986ab680d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -264,9 +264,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( AvoidOutlines outlines; for (auto & o : data.target_objects) { if (!o.avoid_margin.has_value()) { - if (!data.red_signal_lane.has_value()) { - o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE; - } else if (data.red_signal_lane.value().id() == o.overhang_lanelet.id()) { + if (data.red_signal_lane.value().id() == o.overhang_lanelet.id()) { o.info = ObjectInfo::LIMIT_DRIVABLE_SPACE_TEMPORARY; } else { o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE; From c476676c39612ebc36a20072415125571598abb2 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 24 Dec 2024 17:30:25 +0900 Subject: [PATCH 8/8] fix(autoware_default_adapi): fix bugprone-branch-clone (#9726) fix: bugprone-error Signed-off-by: kobayu858 --- system/autoware_default_adapi/src/utils/route_conversion.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/autoware_default_adapi/src/utils/route_conversion.cpp b/system/autoware_default_adapi/src/utils/route_conversion.cpp index e8a748d52edee..25e8204770f8a 100644 --- a/system/autoware_default_adapi/src/utils/route_conversion.cpp +++ b/system/autoware_default_adapi/src/utils/route_conversion.cpp @@ -115,13 +115,13 @@ ExternalState convert_state(const InternalState & internal) const auto convert = [](InternalState::_state_type state) { switch(state) { // TODO(Takagi, Isamu): Add adapi state. - case InternalState::INITIALIZING: return ExternalState::UNSET; + case InternalState::INITIALIZING: return ExternalState::UNSET; // NOLINT case InternalState::UNSET: return ExternalState::UNSET; case InternalState::ROUTING: return ExternalState::UNSET; case InternalState::SET: return ExternalState::SET; case InternalState::REROUTING: return ExternalState::CHANGING; case InternalState::ARRIVED: return ExternalState::ARRIVED; - case InternalState::ABORTED: return ExternalState::SET; + case InternalState::ABORTED: return ExternalState::SET; // NOLINT case InternalState::INTERRUPTED: return ExternalState::SET; default: return ExternalState::UNKNOWN; }