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feat(ndt_scan_matcher): smooth ndt map update #6394

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anhnv3991
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@anhnv3991 anhnv3991 commented Feb 13, 2024

Description

Tests performed

Screencast.from.07-02-2024.10.56.45.webm

Effects on system behavior

None

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Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
@github-actions github-actions bot added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Feb 13, 2024
@anhnv3991 anhnv3991 changed the title Fixed conflicts feat (ndt_scan_matcher): smooth ndt map update Feb 13, 2024
@anhnv3991 anhnv3991 changed the title feat (ndt_scan_matcher): smooth ndt map update feat(ndt_scan_matcher): smooth ndt map update Feb 13, 2024
Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
@SakodaShintaro
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Thank you for the pull request!
This is an important part regarding thread safety, so please let me review it carefully.
First, for the current main branch and the branch in this pull request, I would like to quantitatively measure the time that NDT is locked due to the map update and confirm that it has been improved.
Please be patient as it may take some time.

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Added a quick comment about trivial issues with the code.
A review of the logic will be conducted separately in the future. 👍

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Added some comments. I would appreciate it if you could give me answers.

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I think it's basically OK.

I have only added two comments, so please respond.

@SakodaShintaro SakodaShintaro added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 20, 2024
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All my comments have been resolved. Once the pull request to ndt_omp is merged, I will also approve this pr.

@SakodaShintaro SakodaShintaro self-requested a review February 20, 2024 08:46
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Looks Good To Me!

@anhnv3991 anhnv3991 enabled auto-merge (squash) February 20, 2024 08:51
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codecov bot commented Feb 20, 2024

Codecov Report

Attention: 32 lines in your changes are missing coverage. Please review.

Comparison is base (757d656) 15.12% compared to head (3e86814) 15.24%.
Report is 3 commits behind head on main.

Files Patch % Lines
...ization/ndt_scan_matcher/src/map_update_module.cpp 5.88% 28 Missing and 4 partials ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #6394      +/-   ##
==========================================
+ Coverage   15.12%   15.24%   +0.12%     
==========================================
  Files        1821     1816       -5     
  Lines      126131   125120    -1011     
  Branches    38180    38182       +2     
==========================================
+ Hits        19073    19076       +3     
+ Misses      85670    84657    -1013     
+ Partials    21388    21387       -1     
Flag Coverage Δ *Carryforward flag
differential 3.66% <5.88%> (?)
total 15.24% <ø> (+0.12%) ⬆️ Carriedforward from 4a991a0

*This pull request uses carry forward flags. Click here to find out more.

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@anhnv3991 anhnv3991 merged commit 829c2aa into autowarefoundation:main Feb 20, 2024
22 of 23 checks passed
StepTurtle pushed a commit to StepTurtle/autoware.universe that referenced this pull request Feb 28, 2024
* Fixed conflicts

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* style(pre-commit): autofix

* Remove unnecessary TODO

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* Removed unused debug variable and rename rebuild_ to need_rebuild_ for better understanding

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* Replace pointer to ndt by reference, output error when the input ndt_ptr is null

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* style(pre-commit): autofix

* Fix error message

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
HansRobo pushed a commit that referenced this pull request Mar 12, 2024
* Fixed conflicts

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* style(pre-commit): autofix

* Remove unnecessary TODO

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* Removed unused debug variable and rename rebuild_ to need_rebuild_ for better understanding

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* Replace pointer to ndt by reference, output error when the input ndt_ptr is null

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* style(pre-commit): autofix

* Fix error message

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
* Fixed conflicts

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* style(pre-commit): autofix

* Remove unnecessary TODO

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* Removed unused debug variable and rename rebuild_ to need_rebuild_ for better understanding

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* Replace pointer to ndt by reference, output error when the input ndt_ptr is null

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* style(pre-commit): autofix

* Fix error message

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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